Simple Interpolating Control

Pedro Mercader (1) , Daniel L. Rubin (1) , Hoai-Nam Nguyen (2) , Alberto Bemporad (3) , Per-Olof Gutman (1)

1 Technion - Israel Institute of Technology [Haifa]
2 IFPEN - IFP Energies nouvelles
3 IMT Institute for Advanced Studies [Lucca]

We present a new simple approach to extend the admissible region of a saturated control law for discrete-time linear systems under state and input constraints. The approach is based on the interpolation of a given, performance driven, control law and a low-gain controller. The latter is designed such that its admissible set has maximum volume. The interpolation does not require on-line numerical optimization, and an analytical formula for the controller is given. Several numerical examples are presented to illustrate the control technique.

Keywords: Constrained control; uncertain linear systems; interpolation algorithms; predictive control; state feedback; robust stability

Domains: Mathematics [math]

Pedro Mercader, Daniel L. Rubin, Hoai-Nam Nguyen, Alberto Bemporad, Per-Olof Gutman. Simple Interpolating Control. IFAC-PapersOnLine, 2018, 51 (25), pp.42-47. ⟨10.1016/j.ifacol.2018.11.079⟩. ⟨hal-01951950⟩