MPC for tracking with maximum domain of attraction
- Anderson, Alejandro Luis
- D'jorge, Agustina
- González, Alejandro Hernán
- Ferramosca, Antonio
- Actis, Marcelo Jesús
DOIAbstract
This paper presents a novel set-based model predictive control for tracking, with the largest domain of attraction. The formulation - which consists of a single optimization problem - shows a dual behavior: one operating inside the maximal controllable set to the feasible equilibrium set, and the other operating at the N-controllable set to the same equilibrium set. Based on some finite-time convergence results, global stability of the resulting closed-loop is proved, while recursive feasibility is ensured for any change of the set point. The properties and advantages of the controller have been tested on simulation models.Fil: Anderson, Alejandro Luis. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológic...
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