A tool to analyze robust stability for constrained nonlinear MPC
✍ Scribed by Lino O. Santos; Lorenz T. Biegler; José A.A.M. Castro
- Publisher
- Elsevier Science
- Year
- 2008
- Tongue
- English
- Weight
- 206 KB
- Volume
- 18
- Category
- Article
- ISSN
- 0959-1524
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✦ Synopsis
A sufficient condition for robust asymptotic stability of nonlinear constrained model predictive control (MPC) is derived with respect to plant/model mismatch. This work is an extension of a previous study on the unconstrained nonlinear MPC problem, and is based on nonlinear programming sensitivity concepts. It addresses the discrete time state feedback problem with all states measured. A strategy to estimate bounds on the plant/model mismatch is proposed that can be used off-line as a tool to assess the extent of model mismatch that can be tolerated to guarantee robust stability.