Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7491 Trondheim, Norway
Abstract:
An approach for constrained predictive control of linear systems (or uncertain systems described by polytopic uncertainty models) is presented. The approach consists of (in general non-convex, but often convex) offline optimization, and very efficient online optimization. Two examples, one being a laboratory experiment, compare the approach to existing approaches, revealing both advantages and disadvantages.