Model predictive control for tracking with implicit invariant sets

DOI10.1016/J.AUTOMATICA.2025.112436MaRDI QIDQ6947599zbMATH OpenFDO

Authors Irene Luque, Daniel Limon, J. M. Maestre

Publication date 5 August 2025

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.AUTOMATICA.2025.112436

zbMATH Keywords

implicit invariant setsmodel predictive controltracking systems

Mathematics Subject Classification ID

Large-scale systems (93A15) Model predictive control (93B45) Linear systems in control theory (93C05) Discrete-time control/observation systems (93C55)

Review text

In the paper, the application of model predictive control (MPC) technique to the tracking control problem with implicit terminal components is discussed. A controller is constructed that can be efficiently designed while still benefiting from the addition of artificial variables inherent to the tracking formulation. It is shown that the offline computational cost of the controller design is significantly reduced for large-scale systems. In the final section, the method is illustrated through a case study involving a mass-spring-damper system of variable size.

Cites work

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Cited in

(1)

• Switched model predictive control with non-uniform penalty for switched systems

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