A Polyhedral Off-Line Robust MPC Strategy for Uncertain Polytopic Discrete-Time Systems

  • Pornchai Bumroongsri Chulalongkorn University
  • Soorathep Kheawhom Chulalongkorn University
Keywords: Off-line, model predictive control, polyhedral invariant sets, nominal performance cost, chemical processes.

Abstract

In this paper, an off-line synthesis approach to robust constrained model predictive control for uncertain polytopic discrete-time systems is presented. Most of the computational burdens are moved off-line by pre-computing a sequence of state feedback control laws that corresponds to a sequence of polyhedral invariant sets. The state feedback control laws computed are derived by minimizing the nominal performance cost in order to improve control performance. At each sampling instant, the smallest polyhedral invariant set containing the currently measured state is determined. The corresponding state feedback control law is then implemented to the process. The controller design is illustrated with two examples in chemical processes. The proposed algorithm is compared with an ellipsoidal off-line robust model predictive control algorithm derived by minimizing the worst-case performance cost and an ellipsoidal off-line robust model predictive control algorithm derived by minimizing the nominal performance cost. The results show that the proposed algorithm can achieve better control performance. Moreover, a significantly larger stabilizable region is obtained.

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Author Biographies

Pornchai Bumroongsri

Department of Chemical Engineering, Faculty of Engineering, Chulalongkorn University, Phayathai Road, Patumwan, Bangkok 10330, Thailand

Soorathep Kheawhom

Department of Chemical Engineering, Faculty of Engineering, Chulalongkorn University, Phayathai Road, Patumwan, Bangkok 10330, Thailand

Published In
Vol 16 No 4, Apr 25, 2012
How to Cite
[1]
P. Bumroongsri and S. Kheawhom, “A Polyhedral Off-Line Robust MPC Strategy for Uncertain Polytopic Discrete-Time Systems”, Eng. J., vol. 16, no. 4, pp. 73-90, Apr. 2012.