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Conference Papers Year : 2018

A piecewise affine control Lyapunov function for robust control

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Abstract

This paper presents the construction of a convex piecewise affine control Lyapunov function for constrained linear discrete-time systems, affected by bounded additive disturbances. Exploiting the properties of this control Lyapunov function, the closed-loop dynamics are shown to converge to a given full-dimensional robust positively invariant set. Moreover, the proposed method leads to a simple robust control algorithm which only requires solving a linear programming problem at each sampling instant. Finally, the controller design is illustrated via a numerical example.
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Dates and versions

hal-01720263 , version 1 (01-03-2018)

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Ngoc Anh Nguyen, Sorin Olaru. A piecewise affine control Lyapunov function for robust control. 16th European Control Conference (ECC 2018), Jun 2018, Limassol, Cyprus. ⟨10.23919/ecc.2018.8550436⟩. ⟨hal-01720263⟩
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