2012/08/12 by Sergio Grammatico, Grammatico, Sergio, Gabriele Pannocchia +1
Engineering · Medicine · #Advanced Control Systems Optimization #Cardiovascular Function and Risk Factors #FOS: Electrical engineering #FOS: Mathematics #Fault Detection and Control Systems #Fuel Cells and Related Materials #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1208.2429
openalex publication_date 2012/08/12 · openalex created_date 2022/10/03 · openalex updated_date 2026/07/28
Polyhedral control Lyapunov functions (PCLFs) are exploited in finite-horizon\nlinear model predictive control formulations in order to guarantee the maximal\ndomain of attraction (DoA), in contrast to traditional formulations based on\nquadratic control Lyapunov functions. In particular, the terminal region is\nchosen as the largest DoA, namely the entire controllable set, which is\nparametrized by a level set of a suitable PCLF. Closed-loop stability of the\norigin is guaranteed either by using an "inflated" PCLF as terminal cost or by\nadding a contraction constraint for the PCLF evaluated at the current state.\nTwo variants of the formulation based on the inflated PCLF terminal cost are\nalso presented. In all proposed formulations, the guaranteed DoA is always the\nentire controllable set, independently of the chosen finite horizon.\nClosed-loop inherent robustness with respect to arbitrary, sufficiently small\nperturbations is also established. Moreover, all proposed schemes can be\nformulated as Quadratic Programming problems. Numerical examples show the main\nbenefits and achievements of the proposed formulations.\n