Constrained MPC using feedback linearization on SISO bilinear systems with unstable inverse dynamics

DOI10.1080/00207170500118858MaRDI QIDQ5707965zbMATH OpenOpenAlexFDO

Authors Weiheng Liao, Mark Cannon, Basil Kouvaritakis

Publication date 25 November 2005

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207170500118858

zbMATH Keywords

bilinear systemsfeedback linearizationinvariant setspredictive controlterminal sets

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Nonlinear systems in control theory (93C10)

Review text

Expressions for maximal partially invariant sets are derived, and an algorithm for significant enlargement of maximal PIF (partially invariant and feasible) sets are developed. The derivation is based on the concept of partial invariance in order to identify regions in state space where OIOFL (optimal input-output feedback linearization) applied to SISO bilinear systems steers the state to the kernel of the output map even in the presence of non-minimum phase characteristics. The enlarged PIF sets (in fact, suitably inscribed polytopes) are used as terminal sets in the dual prediction mode paradigm of MPC (model predictive control). The second order bilinear system whose OIOFL has one stable and one unstable equilibrium point is used to illustrate the benefits (in terms of PIF enlargement) of the proposed algorithm in dual prediction mode MPC.

Recommendations

• Input Constraints Handling in an MPC/Feedback Linearization Scheme
• Improved MPC design based on saturating control laws
• Closed-loop stabilizing MPC for discrete-time bilinear systems
• Extended invariance and its use in model predictive control
• Constrained MPC for uncertain linear systems with ellipsoidal target sets.

Cites work

• A continuous-time formulation of nonlinear model predictive control
• Constrained model predictive control: Stability and optimality
• Efficient robust predictive control
• On the minimax reachability of target sets and target tubes

Cited in

(5)

• Formation control of mobile robot systems incorporating primal-dual neural network and distributed predictive approach
• Unconstrained and constrained stabilisation of bilinear discrete-time systems using polyhedral Lyapunov functions
• Input Constraints Handling in an MPC/Feedback Linearization Scheme
• When does QP yield the exact solution to constrained NMPC?
• On the positivity, excitability and transparency properties of a class of time-varying bilinear dynamic systems under multiple point internal and external delays

This page was built for publication: Constrained MPC using feedback linearization on SISO bilinear systems with unstable inverse dynamics

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q5707965)