Optimizing prediction dynamics for robust MPC
A convex formulation is derived for optimizing dynamic feedback laws for constrained linear systems with polytopic uncertainty. We show that, when it exists, the maximal invariant ellipsoidal set for the plant state under a dynamic feedback law incorporating any chosen static feedback gain is equal...
| Hauptverfasser: | , |
|---|---|
| Format: | Journal article |
| Sprache: | English |
| Veröffentlicht: |
2005
|