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A piecewise affine control Lyapunov function for robust control

Ngoc Anh Nguyen 1 Sorin Olaru 2, 1
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
Inria Saclay - Ile de France, L2S - Laboratoire des signaux et systèmes
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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Submitted on : Thursday, March 1, 2018 - 2:43:14 AM
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PWA CLF over contractive set.p...
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  • HAL Id : hal-01720263, version 1


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



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