基于LMI的鲁棒模型预测控制

Robust model prediction control based on linear matrix inequalities

针对模型预测控制框架下的多模型不确定性系统,基于LMI方法设计了独立的系统状态反馈控制器和估计器,提出了基于LMI的鲁棒约束状态反馈模型预测控制算法.为软化输出约束条件,引入了带有软化因子的性能指标函数,并在估计器的设计中考虑了模型不确定性对系统动态误差的影响,以提高控制精度.

In this paper,we present a new technique for the synthesis of a robust model prediction control law using linear matrix inequalities.In order to reduce the conservatism,we introduce the slack variable to soften the output constraints.Also,we take into consideration the uncertainty to the error dynamics.