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Asymmetric constraints with polytopic sets in MPC with application to coupled tanks system
Author(s) -
Kouvaritakis B.,
Can M.,
Karas A.,
RohalIlkiv B.,
Belavy C.
Publication year - 2004
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.886
Subject(s) - lemma (botany) , polyhedron , ellipsoid , dual (grammatical number) , terminal (telecommunication) , mathematical optimization , computer science , work (physics) , mathematics , engineering , combinatorics , mechanical engineering , art , ecology , telecommunications , physics , poaceae , literature , astronomy , biology
Asymmetric constraints have not received sufficient attention in the MPC literature, possibly due to the popularity of ellipsoidal terminal regions, which for asymmetric constraints would give conservative results. The work here adopts low‐complexity polyhedra for which invariance and feasibility under asymmetric constraints can be handled through the use of Farkas' lemma and related results. The paper embeds these results into an MPC law based on a dual mode prediction strategy and proposes algorithms for the systematic design of the polytopic terminal sets. The efficacy of the results is illustrated through application to a coupled tanks system. Copyright © 2004 John Wiley & Sons, Ltd.