The analysis of optimization based controllers
A framework to analyze the stability and robustness of optimization-based controllers by using Kuhn-Tucker necessary conditions for optimality together with the known S-procedure of \textit{V. A. Yakubovich} [Sov. Math., Dokl. 11, 882-886 (1970); translation from Dokl. Akad. SSSR 193, 57-60 (1970; Zbl 0225.93023)] is developed. Analysis questions are formulated as implications between quadratic and linear equalities and inequalities that characterize the solution to the involved on-line optimization problem. A final application of the S-procedure provides sufficient conditions for nominal and robust stability in the form of widely used linear matrix inequalities. The results encompass the standard stability and robustness analysis for a variety of receding horizon control systems, including systems with polytopic and structured uncertainty. A simple numerical example illustrates the methodology.
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- Optimization Based Stabilization of Nonlinear Control Systems
- Stability and performance verification of optimization-based controllers
- Optimality conditions for linear robust controllers
- An active set solver for input-constrained robust receding horizon control
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- The stability of constrained receding horizon control
- Interrelationship between two approaches to analytical design of the optimal controllers
- Viability, viscosity, and storage functions in model-predictive control with terminal constraints
- Directionality compensation for linear multivariable anti-windup synthesis
- Optimization Based Stabilization of Nonlinear Control Systems
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- Robust model predictive control schemes for tracking setpoints
- Multipliers for model predictive control with structured input constraints
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