Nominal and Robust Stability in Receding-Horizon Predictive Control
D. Megías and J. Serrano
Abstract. This paper is focused on the robustness of receding-horizon
predictive control with end-point equality constraints. The use of these
constraints ensures nominal stability in this class of controllers. However,
since there is always a difference between the internal model and the real
plant (system uncertainty), closed-loop instability may arise. A method
of increasing robustness based on softening the constraints (-design)
is suggested. Its properties are studied and compared with other ways of
enhancing robustness. Simulation results show that the -design
prevents instability while good performance is preserved.
Key words. predictive control, uncertainty, robustness, end-point
Registration: PIRDI-6/98, July 1998.
Retrieve PostScript document (pirdi6.ps: 307633
Copyright © 1998 by Computer Science Department. UAB