ROBUST MODEL PREDICTIVE CONTROL FOR UNCERTAIN LURE SYSTEMS

Abstract

This paper proposes a method to design a robust model predictive controller for an Lur’e system with uncertain parameters, which is popular in practice. The uncertain parameters are assumed to belong to convex sets. The problem is formulated as a Linear Matrix Inequalities, which can be solved by available solvers. The result is a linear feedback control signal that can be proved to asymptotically stabilize the closed loop system. The method is illustrated with an example with simulation results.