This paper proposes the use of canonical piecewise affine (PWA) functions for the approximation of linear MPC controllers over a regular simplicial partition of a given set of states of interest. Analysis tools based on the construction of PWA Lyapunov functions are provided for certifying the asymptotic stability of the resulting closed-loop system. The main advantage of the proposed controller synthesis approach is that the resulting stabilizing approximate MPC controller can be implemented on chip with sampling times in the order of tens of nanoseconds.
Synthesis of stabilizing model predictive controllers via canonical piecewise affine approximations
OLIVERI, ALBERTO;POGGI, TOMASO;STORACE, MARCO
2010-01-01
Abstract
This paper proposes the use of canonical piecewise affine (PWA) functions for the approximation of linear MPC controllers over a regular simplicial partition of a given set of states of interest. Analysis tools based on the construction of PWA Lyapunov functions are provided for certifying the asymptotic stability of the resulting closed-loop system. The main advantage of the proposed controller synthesis approach is that the resulting stabilizing approximate MPC controller can be implemented on chip with sampling times in the order of tens of nanoseconds.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.