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1.
  • Löfberg, Johan, 1974-, et al. (author)
  • Explicit LPV-MPC with Bounded Rate of Parameter Variation
  • 2009
  • In: Proceedings of the 6th IFAC Symposium on Robust Control Design. - 9783902661456 ; , s. 7-12
  • Conference paper (peer-reviewed)abstract
    • Recently it was shown how one can reformulate the MPC problem for LPV systems to a series of mpLPs by a closed-loop minimax MPC algorithm based on dynamic programming. A relaxation technique is employed to reformulate constraints which are polynomial in the scheduling parameters to parameter-independent constraints. The algorithm allows the computation of explicit control laws for LPV systems and enables the controller to exploit information about the scheduling parameter. This improves the control performance compared to a standard robust approach where no uncertainty knowledge is used, while keeping the benefits of fast online computations. In this paper the explicit LPV-MPC scheme is extended to incorporate limits on the rate of parameter variation in the controller design. Taking these limits into account can further improve control performance since impossible trajectories of the scheduling parameter do not have to be considered during control law computations.
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2.
  • Papageorgiou, Christos, et al. (author)
  • Formulation of the Stability Margins Clearance Criterion As a Convex Optimization Problem
  • 2009
  • In: Proceedings of the 6th IFAC Symposium on Robust Control Design. - Linköping : Linköping University Electronic Press. - 9783902661456 ; , s. 325-330
  • Conference paper (peer-reviewed)abstract
    • This paper presents the formulation of a flight clearance criterion as a convex optimization problem. The criterion is the stability margins criterion which is specified as an allowable phase and gain margin of a certain loop transfer function. The satisfaction of the criterion amounts to the Nichols plot of the loop transfer function being outside a specified trapezoidal region. It was shown previously that the exclusion condition from an ellipsoidal region is implied by using the generalized stability margin bPC and its calculation was performed frequency-wise by solving a sequence of convex optimization problems. In this paper we formulate the calculation of a lower bound on bPC as a convex optimization problem using Integral Quadratic Constraints (IQCs) and avoid the gridding procedure in the frequency domain. Furthermore, we formulate the problem of obtaining a lower bound on the perturbed stability margin, which is defined as the worst-case bPC over variations in real uncertain parameters.
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  • Result 1-2 of 2
Type of publication
conference paper (2)
Type of content
peer-reviewed (2)
Author/Editor
Löfberg, Johan, 1974 ... (1)
Morari, Manfred (1)
Hansson, Anders, 196 ... (1)
Falkeborn, Rikard (1)
Besselman, Thomas (1)
Papageorgiou, Christ ... (1)
University
Linköping University (2)
Language
English (2)
Research subject (UKÄ/SCB)
Engineering and Technology (2)
Natural sciences (1)
Year
2009 (2)

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