Min-Max Model Predictive Control as a Quadratic Program
| Authors: | de la Peña David Muñoz, Universidad de Sevilla, Spain
Alamo Teodoro, Universidad de Sevilla, Spain
Ramirez Daniel Rodriguez, Universidad de Sevilla, Spain
Camacho Eduardo Fernandez, Universidad de Sevilla, Spain |
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| Topic: | 2.5 Robust Control |
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| Session: | Robust Model Predictive Control |
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| Keywords: | Predictive control, Robust control, Optimization devices, Uncertainsystems, Constraints |
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Abstract
This paper deals with the implementation of min-max model predictivecontrol for constrained linear systems with bounded additive uncertainties andquadratic cost functions. This type of controller has been shown to be a continuouspiecewise affine function of the state vector by geometrical methods. However, noalgorithm for computing the explicit solution has been given. In this paper, we showthat the min-max optimization problem can be expressed as a multi-parametricquadratic program, and so, the explicit form of the controller may be determinedby standard multi-parametric techniques.
