i Steps Closed-Loop Steerable Sets for Constrained Linear Systems under Model Predictive Control

ANDERSON, ALEJANDRO; D'JORGE, AGUSTINA; FERRAMOSCA, ANTONIO; KOFMAN, ERNESTO; GONZÁLEZ, ALEJANDRO HERNÁN

Congreso; XXVIº Congreso Argentino de Control Automático; 2018

The understanding of invariant set theory is essentialin the design of controllers for constrained systems. Inthis paper, some notions of the invariant set theory and set-basedMPC controllers are briefly reviewed and - based on theresults presented in a former work [1] - some state space regionsare defined from which the closed-loop system reaches a giventarget/objective set in a given number of steps. The novel conceptspresented in this work are exposed in a theoretical context butits properties are demonstrated by several simulation examples.