Enlarging the domain of attraction of stable MPC controllers, maintaining the output performance.

GONZÁLEZ, ALEJANDRO HERNÁN; ODLOAK, DARCI

AUTOMATICA

Elsevier

Año: 2009 p. 1080 - 1085

0005-1098

This work presents an alternative way to formulate the stable Model Predictive Control (MPC) optimization problem that allows the enlargement of the domain of attraction, while preserving the controller performance. Based on the dual MPC that uses the null local controller, we propose the inclusion of an appropriate set of slacked terminal constraints into the control problem. As a result, the domain of attraction is unlimited for the stable modes of the system, and the largest possible for the non-stable modes. Despite this controller does not achieve local optimality, simulations show that the input and output performances are similar to the ones obtained with the MPC that uses the LQR as a local controller.