Robust and Stable Predictive Control with Bounded Uncertainties

Abstract

[EN] Min-Max optimization is often used for improving robustness in Model Predictive Control (MPC). An analogy to this optimization could be the BDU (Bounded Data Uncertainties) method, which is a regularization technique for least-squares problems that takes into account the uncertainty bounds. Stability of MPC can be achieved by using terminal constraints, such as in the CRHPC (Constrained Receding-Horizon Predictive Control) algorithm. By combining both BDU and CRHPC methods, a robust and stable MPC is obtained, which is the aim of this work. BDU also offers a guided method of tuning the empirically tuned penalization parameter for the control effort in MPC. (C) 2008 Elsevier Inc. All rights reserved.