State predictive control with multiple modification terms and robust stability analysis based on complementary sensitivity functions

Shotaro Yanase, Yoichiro Masui, Kentaro Hirata, Tomomichi Hagiwara

Research output: Contribution to journalConference articlepeer-review

Abstract

As an effective control method for systems with time delay in the input, state predictive control is well known. An idea of adding a single modification term to its control law was presented recently, and it was suggested that an appropriate modification term could contribute to improving robust stability of the control system to some parametric uncertainties. This extended control method is called modified state predictive control. Motivated by the preceding study, this paper considers introducing multiple modification terms into the control law of state predictive control, aiming at improving robust stability for non-parametric uncertainties. We first derive the characteristic equation of the modified state predictive control systems with multiple modification terms, and give a necessary and sufficient condition for stability. We then derive an explicit representation of the complementary sensitivity function associated with the robust stability analysis problem for multiplicative uncertainties. Finally, we demonstrate through numerical examples that state predictive control with appropriate multiple modification terms could be useful in improving robust stability compared with that with a single modification term or no such a term.

Original languageEnglish
Pages (from-to)4838-4843
Number of pages6
JournalIFAC-PapersOnLine
Volume53
Issue number2
DOIs
Publication statusPublished - 2020
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: Jul 12 2020Jul 17 2020

Keywords

  • Complementary sensitivity function
  • Continuous-time systems
  • Robust stability
  • State predictive control
  • Time delay

ASJC Scopus subject areas

  • Control and Systems Engineering

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