Tube-based Guaranteed Cost Robust Model Predictive Control for Linear Systems Subject to Parametric Uncertainties Article Swipe

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Carlos Massera Filho , Marco H. Terra , Denis F. Wolf ·

YOU? · · 2020 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2012.05349 · OA: W3110674889

We propose a tube-based guaranteed cost model predictive controller considering a homothetic formulation for constrained linear systems subject to multiplicative structured norm-bounded uncertainties. It provides an upper bound to the general min-max model predictive control. The invariance property of the proposed tube holds for any arbitrary scaling. It yields a second-order cone programming problem which is less computationally expensive than standard semi-definite programming problems. We also present a numerical example with a comparative study among the proposed approach, an open-loop guaranteed cost model predictive controller, and a homothetic tube model predictive controller for linear difference inclusion systems.