Convex liftings-based robust control design

Ngoc Anh Nguyen (1) , Sorin Olaru (2, 3) , Pedro Rodriguez-Ayerbe (2) , Michal Kvasnica (4)

1 JKU - Johannes Kepler University Linz [Linz]
2 L2S - Laboratoire des signaux et systèmes
3 DISCO - Dynamical Interconnected Systems in COmplex Environments
4 Slovak University of Technology in Bratislava

This paper presents a new approach for control design of constrained linear systems affected by bounded additive disturbances and polytopic uncertainties. This method hinges on so-called convex liftings which emulate control Lyapunov function by providing a constructive framework for optimization based control implementation. It will be shown that this method can guarantee the recursive feasibility and robust stability. Finally, a numerical example will be presented to illustrate this method.

Keywords: Convex liftings; PWA Lyapunov function; robust control; bounded additive disturbances; polytopic uncertainties

Domains: Automatic

Ngoc Anh Nguyen, Sorin Olaru, Pedro Rodriguez-Ayerbe, Michal Kvasnica. Convex liftings-based robust control design. Automatica, 2017, 77, pp.206- 213. ⟨10.1016/j.automatica.2016.11.031⟩. ⟨hal-01509316⟩