Soft Constraints for Robust MPC of Uncertain Systems

Abstract

In this paper we develop a robust constrained predictive controller for linear systems. The controller is equipped with soft output constraints that are used in a novel way to have robustness against model plant mismatch. By simulation we compare the performance of the new robust constrained predictive controller to a nominal predictive controller. In the nominal case, the performance of the robust predictive controller is comparable to the performance of the nominal predictive controller. In the case of plant model mismatch, the robust predictive controller performs significantly better than the nominal predictive controller.