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Computation of Feasible and Invariant Sets for Interpolation-based MPC

Ismi Rosyiana Fitri, Jung-Su Kim*, Shuyou Yu, and Young Il Lee
International Journal of Control, Automation, and Systems, vol. 19, no. 10, pp.3253-3263, 2021

Abstract : The terminal invariant set plays a key role in the stabilizing MPC (Model Predictive Control) formulation. When control gains of the terminal local control laws and corresponding feasible and invariant sets are given, the existing interpolation methods unite them to enlarge the stabilizable region and enhance performance. In this paper, when an invariant set is given, an algorithm is proposed to find another invariant set such that their convex hull is maximized and also invariant. Numerical examples show that the set of the stabilizable initial state of the MPC is enlarged by the terminal constraint set computed by an interpolation-based approach.

Keyword : Interpolation, invariant set, model predictive control, terminal set.

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