Quasi Min-Max MPC Design for Constrained LPV Systems
Résumé
This paper proposes a novel model predictive controller for polytopic linear parameter-varying (LPV) discrete-time systems with state and control constraints. It is assumed that the time-varying parameters are measured online, but their future behavior is uncertain and contained in a given polytope. The main idea is to use an interpolation technique to obtain a suitable terminal constrained set and suitable terminal cost together with one-step model predictive controller. At each time instant a quadratic programming problem is solved on-line. Proofs recursive feasibility and asymptotic stability are given.