MPC for linear systems with parametric uncertainty

Abstract

This paper deals with linear systems with paramet- ric uncertainty using a model-based predictive control (MPC). When the uncertainty of the system is significant, the MPC performance can be deteriorated or even the optimization problem can be unfeasible. In this paper, a MPC for linear systems with parametric uncertainty is presented. This controller considers the weight variable of a linear parameter-varying (LPV) system as a decision variable of the optimization problem and a terminal invariant set for all the systems that are within the uncertainty polytope. Finally, this controller is applied to a mass-spring-damper system to verify its properties.