Tube-based robust sampled-data MPC for linear continuous-time systems |
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| Authors: | Marcello Farina Riccardo Scattolini |
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| Affiliation: | 1. Department of Mechanical Engineering, The University of Melbourne, VIC 3010, Australia;2. Department of Electrical and Electronic Engineering, Imperial College London, London SW7 2AZ, UK;3. Department of Aeronautics, Imperial College London, London SW7 2AZ, UK;1. Iran University of Science and Technology, Narmak, Tehran 1684613114, Iran;2. Department of Engineering, University of Zanjan, University Blvd., 4537138791 Zanjan, Iran |
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| Abstract: | This note extends to the continuous-time case the “tube-based” approach for the design of discrete-time robust model predictive control (MPC) algorithms developed in Mayne, Seron, and Rakovi? (2005). This extension is of interest in view of the simplicity and popularity of the method as well as of the industrial relevance of continuous-time implementations of MPC. The proposed robust control law is composed of two terms: (1) a sampled-data MPC control law and (2) a continuous-time state feedback term. |
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