Publications related to Robust stability properties of soft constrained MPC

Model predictive path-following for constrained nonlinear systems

We propose a model predictive control approach to path-following problems of constrained nonlinear systems. We directly consider input and state constraints. Furthermore, we introduce an extended corridor path-following problem, which allows to add spatial ...

IEEE2009

Nonlinear Model Predictive Path-Following Control

Timm Faulwasser

In the frame of this work, the problem of following parametrized refer- ence paths via nonlinear model predictive control is considered. It is shown how the use of parametrized paths introduces new degrees of freedom into the con- troller design. Sufficien ...

Springer2009

Global Stabilization of an Inverted Pendulum – Control Strategy and Experimental Verification

Dominique Bonvin

The problem of swinging up an inverted pendulum on a cart and controlling it around the upright position has traditionally been treated as two separate problems. This paper proposes a control strategy that is globally asymptotically stable under actuator s ...

2009

Frequency Domain Controller Design by Linear Programming Guaranteeing Quadratic Stability

Alireza Karimi, Roland Longchamp, Marc Kunze

In a recent work, a frequency method based on linear programming is proposed to design fixed-order linearly parameterized controllers for stable linear multi- model SISO systems. The method is based on the shaping of the open-loop transfer functions in the ...

IEEE2008

Data-driven controller tuning with integrated stability constraint

Dominique Bonvin, Alireza Karimi, Klaske van Heusden

This paper presents a data-driven controller-tuning algorithm that includes a sufficient condition for closed-loop stability. This stability condition is defined by a set of convex constraints on the Fourier transform of specific auto- and cross-correlatio ...

IEEE2008

Robust fixed-order H infinity Controller Design for Spectral Models by Convex Optimization

Alireza Karimi, Roland Longchamp, Gorka Galdos Sanz de Galdeano

A new approach for robust fixed-order

H_\infty

controller design by convex optimization is proposed. Linear time-invariant single-input single-output systems represented by a finite set of complex values in the frequency domain are considered. It is show ...

IEEE2008

Multiple Model Predictive Control on a drainage canal system

Model Predictive Control has been implemented on a large drainage canal system in the Netherlands. This water system can be represented as a reservoir with uncertain inflow due to rainfall runoff and a water level that has to be kept within a certain range ...

Elsevier2008

Gain-Scheduled Controller Design by Linear Programming

Alireza Karimi, Roland Longchamp, Marc Kunze

A linear programming approach is proposed to tune fixed-order linearly parameterized gain-scheduled controllers for stable SISO linear parameter varying (LPV) plants. The method is based on the shaping of the open-loop transfer functions in the Nyquist dia ...

2007

Robust Loop Shaping Controller Design for Spectral Models by Quadratic Programming

Alireza Karimi, Roland Longchamp, Gorka Galdos Sanz de Galdeano

A quadratic programming approach is proposed to tune fixed-order linearly parameterized controllers for stable LTI plants represented by spectral models. The method is based on the shaping of the open-loop or closed-loop frequency functions in the Nyquist ...

2007

Hybrid model predictive control of induction of Escherichia coli

Mahmut Selman Sakar

The lactose regulation system of Escherichia coli is known to exhibit a bistable behavior. The stable states correspond to the phenotypical states of the system, induced and uninduced. Stochastic modeling of the system enables us to reproduce an experiment ...

2007

Robust stability properties of soft constrained MPC

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Model predictive path-following for constrained nonlinear systems

Nonlinear Model Predictive Path-Following Control

Global Stabilization of an Inverted Pendulum – Control Strategy and Experimental Verification

Frequency Domain Controller Design by Linear Programming Guaranteeing Quadratic Stability

Data-driven controller tuning with integrated stability constraint

Robust fixed-order H infinity Controller Design for Spectral Models by Convex Optimization

Multiple Model Predictive Control on a drainage canal system

Gain-Scheduled Controller Design by Linear Programming

Robust Loop Shaping Controller Design for Spectral Models by Quadratic Programming

Hybrid model predictive control of induction of Escherichia coli

Global Stabilization of an Inverted Pendulum – Control Strategy and Experimental Verification

Frequency Domain Controller Design by Linear Programming Guaranteeing Quadratic Stability

Model predictive path-following for constrained nonlinear systems

Nonlinear Model Predictive Path-Following Control

Robust fixed-order H infinity Controller Design for Spectral Models by Convex Optimization

Data-driven controller tuning with integrated stability constraint

Multiple Model Predictive Control on a drainage canal system

Gain-Scheduled Controller Design by Linear Programming

Robust Loop Shaping Controller Design for Spectral Models by Quadratic Programming

Hybrid model predictive control of induction of Escherichia coli