2015/08/18 by Mazen Alamir, Alamir, Mazen
Engineering · Medicine · #Advanced Control Systems Optimization #Stability and Control of Uncertain Systems #Cardiovascular Function and Risk Factors
paper · pdf · doi:10.48550/arxiv.1508.04310
In this paper, a state-dependent control updating period framework is\nproposed that leads to real-time implementable Model Predictive Control with\ncertified practical stability results and constraints satisfaction. The scheme\nis illustrated and validated using new certification bound that is derived in\nthe case where the Fast Gradient iteration is used through a penalty method to\nsolve generally constrained convex optimization problems. Both the\ncertification bound computation and its use in the state-dependent updating\nperiod framework are illustrated in the particular case of linear MPC. An\nillustrative example involving a chain of four integrators is used to show the\nexplicit computation of the state-dependent control updating scheme.\n