Design of Robust Parametric MPC for Hybrid Systems
Abstract
This paper presents an algorithm for the design of robustmodel-based predictive controller for hybrid system underuncertainty via parametric programming. A min-max approach isadopted to design robust hybrid parametric predictive controller(RHPPC) where a cost function is minimized for the maximum violationof the uncertainty involved. The proposed hybrid control schemeguarantees stability and feasible operation in the presence ofbounded input uncertainty. The governing piecewise affine optimalcontrol policy as a function of states can then be administeredon-line as a sequence of simple function evaluations. An example ispresented to illustrate the details of the proposed RHPPC design.
