Robust Model Predictive Control Based on Stabilizing Parameter Space Calculus

Ilhan Mutlu, Juraj Oravec, Frank Schrodel, Rick Vobwinkel, Monika Bakosova, Mehmet Turan Soylemez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)


The aim of this study is to introduce a novel approach for robust model predictive control (MPC) design based on stabilizing parameter spaces. In order to determine the stabilizing parameter regions, a Lyapunov equation based approach is proposed for nominal systems. In addition to the free controller parameters, it is also possible to determine boundaries of uncertain parameters in the present approach. The precomputed stability conditions on controller parameters are inserted to the MPC problem formulation as constraints. By this way, the stability of the closed-loop system is ensured. The proposed approach allows to design the nominal MPC, instead of the robust one. Using the predetermined constraints, the MPC is implemented to optimize the controller parameters over this stabilizing set. This paper introduces three particular control scenarios that tune the basic properties of the novel approach, e.g., runtime and computational effort. Two illustrative case studies are presented to demonstrate the efficiency of the proposed robust MPC strategy.

Original languageEnglish
Title of host publication2018 European Control Conference, ECC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages7
ISBN (Electronic)9783952426982
Publication statusPublished - 27 Nov 2018
Event16th European Control Conference, ECC 2018 - Limassol, Cyprus
Duration: 12 Jun 201815 Jun 2018

Publication series

Name2018 European Control Conference, ECC 2018


Conference16th European Control Conference, ECC 2018

Bibliographical note

Publisher Copyright:
© 2018 European Control Association (EUCA).


ACKNOWLEDGMENT J. Oravec and M. Bakosˇová gratefully acknowledge the contribution of the Scientific Grant Agency of the Slovak Republic under the grant 1/0112/16 and the Slovak Research and Development Agency under the project APVV-15-0007. R. Voßwinkel gratefully acknowledge the financial support of this work by the German Academic Scholarship Foundation.

FundersFunder number
German Academic Scholarship Foundation
Agentúra na Podporu Výskumu a VývojaAPVV-15-0007
Vedecká Grantová Agentúra MŠVVaŠ SR a SAV1/0112/16


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