EFFICIENT IMPLEMENTATION OF CONSTRAINED ROBUST MODEL PREDICTIVE CONTROL USING A STATE SPACE MODEL

Amira Kheriji, Faouzi Bouani, Mekki Ksouri

2010

Abstract

The goal of this paper is to evaluate the closed loop performances of a new approach in constrained state space Robust Model Predictive Control (RMPC) in the presence of parametric uncertainties. The control law is obtained by the resolution of a min-max optimization problem, initially non convex, under input and input deviation constraints, using worst case strategy. The technique used is the Generalized Geometric Programming (GGP) which is a global optimization method for non convex functions constrained in a specific domain. The key idea of the proposed approach is the convexification of the optimization problem allowing to compute the optimal control law using standard optimization technique. The proposed method is efficient since it guarantees set-point tracking different from the origin and non zero disturbances rejection. The efficiency of this approach is illustrated with two examples and compared with a recent state space RMPC algorithm.

Paper Citation

in Harvard Style

Kheriji A., Bouani F. and Ksouri M. (2010). EFFICIENT IMPLEMENTATION OF CONSTRAINED ROBUST MODEL PREDICTIVE CONTROL USING A STATE SPACE MODEL . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8425-02-7, pages 116-121. DOI: 10.5220/0002945101160121

in Bibtex Style

@conference{icinco10,
author={Amira Kheriji and Faouzi Bouani and Mekki Ksouri},
title={EFFICIENT IMPLEMENTATION OF CONSTRAINED ROBUST MODEL PREDICTIVE CONTROL USING A STATE SPACE MODEL},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2010},
pages={116-121},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002945101160121},
isbn={978-989-8425-02-7},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - EFFICIENT IMPLEMENTATION OF CONSTRAINED ROBUST MODEL PREDICTIVE CONTROL USING A STATE SPACE MODEL
SN - 978-989-8425-02-7
AU - Kheriji A.
AU - Bouani F.
AU - Ksouri M.
PY - 2010
SP - 116
EP - 121
DO - 10.5220/0002945101160121