Quasi-Min-Max MPC for Nonlinear System via Embedding Approach
A quasi-min-max model predictive control (MPC) algorithm is proposed for constrained nonlinear system via an embedding approach. The nonlinear system can be approximated by a linear parameter varying (LPV) model. And a method based on invariant set is proposed for the embedding model to reduce the computational complexity. The proposed method constructs a one-step invariant set comprises an interpolation between several pre-computed invariant sets at each time instant. Then control law is obtained by solving a constrained QP problem, which is also useful for the nonlinear system. The performances of the approach are presented via an example.
Jun Hu and Qi Luo
M. Zhao and P. P. Song, "Quasi-Min-Max MPC for Nonlinear System via Embedding Approach", Advanced Materials Research, Vol. 320, pp. 481-486, 2011