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Reduced order model predictive control for constrained linear systems with disturbance attenuation
MasaakiTakahashi,Hideki Kokame,Keiji Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper deals with reduced order model predictive control for input-constrained discrete-time linear systems with disturbance attenuation. By introducing a decomposition technique for a quadratic cost functional, an MPC law is obtained from are duced order optimization problem. The fundamental properties of there sulting MPC law are discussed.
Compensation law for constrained systems based on a decomposition of finite-horizon linear systems
Naoyuki Hara,Hideki Kokame,Keiji Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper considers a compensation law for constrained continuous-time linear systems. We introduce singular value decomposition(SVD) offinite-horizon linear systems and provide a compensation law which satisfies system constraints based on the SVD. The SVD allows us to construct basis functions consisting of dominant input-output signals where an auxiliary dynamical system is newly introduced so that it generates useful basis functions. The properties of the resulting system with compensation law are discussed, and the features of the proposed method are demonstrated by numerical examples.