Off-line robustification of Generalized Predictive Control for uncertain systems
Author:
Khelifi Otmane Khelifa,Bali Nordine,Nezli Lazhari
Abstract
Abstract
An off-line methodology was proposed for enhancing the robustness of an initial Generalized Predictive Control (GPC) by convex optimization of the Youla parameter. However, this procedure of robustification is restricted with the case of the systems affected only by unstructured uncertainties. This paper proposes an extension of this method to the systems subjected to both unstructured and structured polytopic uncertainties. The main idea consists in adding supplementary constraints to the optimization problem which validates the Lipatov stability condition at each vertex of the polytope. These polytopic uncertainties impose a set of non convex quadratic constraints. The globally optimal solution is found by means of the GloptiPoly3 software. Therefore, this robustification provides stability robustness towards unstructured uncertainties for the nominal system, while guaranteeing stability properties over a specified polytopic domain of uncertainties. Finally, an illustrative example is given
Publisher
Walter de Gruyter GmbH
Subject
Control and Optimization,Modelling and Simulation,Control and Systems Engineering
Cited by
1 articles.
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1. Robustified GPC controller based on H ∞ robust control for an hydraulic actuator;Journal of the Brazilian Society of Mechanical Sciences and Engineering;2015-08-15