OUTPUT STABLE MODEL PREDICTIVE CONTROL DESIGN WITH INPUT CONSTRAINTS

Vojtech Veselý

   The paper addresses the problem to design a quadratic stable output/state feedback model predictive control for linear systems with input constraints. In the proposed design technique the model predictive control is designed for N₂ step ahead prediction using the Lyapunov function approach with the cost function guaranteeing input constraints. Output gain matrix calculation is realized off line and through dynamic behavior with respect to quadratic stability of closed-loop system only modification of output gain matrix is realized to guarantee input constraints. Two examples are given to demonstrate the effectiveness of the proposed methods.

Keywords: model predictive control, quadratic stability, Lyapunov function, input constraints

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