Infinite horizon model predictive control with no terminal constraint

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    Abstract

    This paper investigates the constrained infinite horizon linear quadratic regulator (CIHLQR). In particular, it is shown that the terminal set inclusion condition that is associated with this control law introduces limitations into the control system. By relaxing this condition, it is demonstrated that the resulting controller will in many cases remain equivalent to CIHLQR. It is further shown that CIHLQR with a relaxed terminal set inclusion condition offers significant benefits, in terms of computational expense and performance when compared with standard finite horizon model predictive control (MPC) approaches. © 2004 Elsevier Ltd. All rights reserved.
    Original languageEnglish
    Pages (from-to)2605-2610
    Number of pages5
    JournalComputers and Chemical Engineering
    Volume28
    Issue number12
    DOIs
    Publication statusPublished - 15 Nov 2004

    Keywords

    • Constrained control
    • Infinite horizon
    • Linear quadratic regulator
    • Model predictive control

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