Model Predictive Control - Numerical Methods for the Invariant Sets Approximation

Hichem Benlaoukli (1) , Sorin Olaru (1)

1 E3S - Supélec Sciences des Systèmes

This paper deals with the computational issues encountered in the construction of invariant sets for LTI (Linear Time Invariant) systems subject to linear constraints. Three algorithms to compute or approximate the invariant set are presented. Two of theme are based on expansive and contractive strategy, while the third one uses the transition graph over the partition of the closed loop piecewise affine system.

Domaines: Automatique / Robotique

Hichem Benlaoukli, Sorin Olaru. Model Predictive Control - Numerical Methods for the Invariant Sets Approximation. Numerical Analysis and its applications, Springer, pp.192-199, 2009, Lecture Notes in Computer Science, Volume 5434. ⟨hal-00431013⟩