제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Output feedback model predictive control for Wiener model with parameter dependent Lyapunov function

  • Yoo, Woo-Jong (Department of Electrical Engineering Pohang University of Science and Technology) ;
  • Ji, Dae-Hyun (Department of Electrical Engineering Pohang University of Science and Technology) ;
  • Lee, Sang-Moon (Department of Electrical Engineering Pohang University of Science and Technology) ;
  • Won, Sang-Chul (Department of Electrical Engineering Pohang University of Science and Technology)
  • Published : 2005.06.02
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Abstract

In this paper, we consider a robust output feedback model predictive controller(MPC) design for Wiener model. Nonlinearities that couldn't be represented in static nonlinearity block of Wiener model are regarded as uncertainties in linear block. An dynamic output feedback controller design method is presented for Wiener MPC. According to MPC algorithm, the control law is computed based on linear matrix inequality(LMI)at each sampling time by solving convex optimization. Also, a new parameter dependent Lyapunov function is proposed to get a less conservative condition. The results are illustrated with numerical example.

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