Abstract
The stability and robustness of input-constrained model predictive control can be analyzed using the theory of integral quadratic constraints. We demonstrate the existence of improved multipliers when there are only staged input or box input constraints. This can significantly reduce the conservatism of any stability analysis, and we illustrate the improved performance with a simple numerical example.
| Translated title of the contribution | Multipliers for model predictive control with structured input constraints |
|---|---|
| Original language | English |
| Pages (from-to) | 562 - 568 |
| Number of pages | 7 |
| Journal | Automatica |
| Volume | 46 |
| DOIs | |
| Publication status | Published - Mar 2010 |