A MPC stability condition using step response model

GONZÁLEZ, ALEJANDRO HERNÁN; ODLOAK, DARCI; MARCHETTI, JACINTO LUIS

Buenos Aires, Argentina

Congreso; XIXº Congreso Argentino de Control Automático; 2004

Abstract: Nominal stability of Constrained Model Predictive Control has been extensively analysed in the last fifteen years. The inclusion of a terminal constraint into the optimisa-tion problem and the expansion of the prediction horizon up to infinity are the main strate-gies proposed in order to achieve the desired stability. However, when using Step Response Model, these practices tend to be difficult to apply: the first tends to be excessively restric-tive, and infeasibilities arise; the second tends to be computationally expensive. This paper studies the inclusion of a simple-to-apply and less restrictive new constraint into the optimi-sation problem that allows nominal stability.