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research article

Homothetic Tube Model Predictive Control With Multi-Step Predictors

Saccani, Danilo  
•
Ferrari-Trecate, Giancarlo
•
Zeilinger, Melanie N.
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January 1, 2023
Ieee Control Systems Letters

We present a robust model predictive control (MPC) framework for linear systems facing bounded parametric uncertainty and bounded disturbances. Our approach deviates from standard MPC formulations by integrating multi-step predictors, which provide reduced error bounds. These bounds, derived from multi-step predictors, are utilized in a homothetic tube formulation to mitigate conservatism. Lastly, a multi-rate formulation is adopted to handle the incompatibilities of multi-step predictors. We provide a theoretical analysis, guaranteeing robust recursive feasibility, constraint satisfaction, and (practical) stability of the desired setpoint. We use a simulation example to compare it to existing literature and demonstrate advantages in terms of conservatism and computational complexity.

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Type
research article
DOI
10.1109/LCSYS.2023.3336261
Web of Science ID

WOS:001129117400007

Author(s)
Saccani, Danilo  
Ferrari-Trecate, Giancarlo
Zeilinger, Melanie N.
Kohler, Johannes
Date Issued

2023-01-01

Publisher

Ieee-Inst Electrical Electronics Engineers Inc

Published in
Ieee Control Systems Letters
Volume

7

Start page

3561

End page

3566

Subjects

Technology

•

Predictive Control For Linear Systems

•

Identification For Control

•

Constrained Control

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
SCI-STI-GFT  
FunderGrant Number

Swiss National Science Foundation through NCCR Automation

Available on Infoscience
February 20, 2024
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/204808
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