On the precision in polyhedral partition representation and the fragility of PWA control

International audienceExplicit model predictive control (EMPC) solves a multi-parametric Quadratic Programming (mp-QP) problem for a class of discrete-time linear system with linear inequality constraints. The solution of the EMPC problem in general is a piecewise affine control function defined over non-overlapping convex polyhedral regions composing a polyhedral partition of the feasible region. In this work, we consider the problem of perturbations on the representation of the vertices of the polyhedral partition.Such perturbations may affect some of the structural characteristics of the PWA controller such as " non-overlapping within the regions " or " the closed-loop invariance ". We first show how a perturbation affects the polyhedral regions and evoke the overlapping within the modified polyhedral regions. The major contribution of this work is to analyze to what extend the non-overlapping and the invariance characteristics of the PWA controller can be preserved when the perturbation takes place on the vertex representation. We determine a set called sensitivity margin to characterize for admissible perturbation preserving the non-overlapping and the invariance property of the controller. Finally, we show how to perturb multiple vertices sequentially and reconfigure the entire polyhedral partition