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Robust Explicit MPC Based on Approximate Multiparametric Convex Programming

2006; Institute of Electrical and Electronics Engineers; Volume: 51; Issue: 8 Linguagem: Inglês

10.1109/tac.2006.878755

2334-3303

David Muñoz de la Peña, Alberto Bemporad, Carlo Filippi,

Process Optimization and Integration

Many robust model predictive control (MPC) schemes require the online solution of a computationally demanding convex program. For deterministic MPC schemes, multiparametric programming was successfully applied to move offline most of the computation. In this paper, we adopt a general approximate multiparametric algorithm recently suggested for convex problems and propose to apply it to a classical robust MPC scheme. This approach enables one to implement a robust MPC controller in real time for systems with polytopic uncertainty, ensuring robust constraint satisfaction and robust convergence to a given bounded set