Robust multi-rate predictive control using multi-step prediction models learned from data

DOI10.1016/J.AUTOMATICA.2021.109852MaRDI QIDQ2063760zbMATH OpenOpenAlexFDO

Authors Enrico Terzi, Marcello Farina, Lorenzo Fagiano, Riccardo Scattolini

Publication date 3 January 2022

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2102.08302

Mathematics Subject Classification ID

Model predictive control (93B45) Linear systems in control theory (93C05) Asymptotic stability in control theory (93D20)

Abstract: This note extends a recently proposed algorithm for model identification and robust MPC of asymptotically stable, linear time-invariant systems subject to process and measurement disturbances. Independent output predictors for different steps ahead are estimated with Set Membership methods. It is here shown that the corresponding prediction error bounds are the least conservative in the considered model class. Then, a new multi-rate robust MPC algorithm is developed, employing said multi-step predictors to robustly enforce constraints and stability against disturbances and model uncertainty, and to reduce conservativeness. A simulation example illustrates the effectiveness of the approach.

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Cites work

• A multirate model-based predictive controller
• Robust model predictive control for multirate systems with model uncertainties and circular scheduling
• Robust model predictive control of constrained linear systems with bounded disturbances
• Set Membership Identification of Linear Systems With Guaranteed Simulation Accuracy

Cited in

(6)

• Robust tube-based model predictive control with Koopman operators
• Zone MPC with guaranteed identifiability in presence of predictable disturbances
• Model predictive control of multi-rate sampled-data systems: a state-space approach
• Tuning of multivariable model predictive controllers through expert bandit feedback
• Robust Data-Enabled Predictive Control: Tractable Formulations and Performance Guarantees
• Model predictive control for complicated dynamic systems: a survey

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