A new approach to finite minimax receding horizon control problem with constrained conditions

Tohru Kawabe, Kentaro Hirata

Research output: Contribution to journalArticle


In this paper, a new approach to robust finite RHC (receding horizon control) of constrained systems with structured uncertainties and bounded disturbances is proposed. The control problem is formulated as a minimax optimization problem of quadratic cost function with bounded constraints conditions. The proposed approach using the S-procedure can solve this problem efficiently. Numerical examples are given to show the advantage of this approach, the reduction of conservativeness, with respect to other preexisting methods.

Original languageEnglish
Pages (from-to)1992-1998
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number7
Publication statusPublished - Jul 2004
Externally publishedYes



  • Constrained System
  • Finite RHC (Receding Horizon Control)
  • Minimax Optimization
  • S-Procedure

ASJC Scopus subject areas

  • Mechanical Engineering

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