Interpolation Model Predictive Control of Nonlinear Systems Described by Quasi-LPV Model

Abstract

This paper investigates the interpolation model predictive control (MPC) algorithm for nonlinear discrete-time systems, which can be represented by affine linear parameter varying (LPV) model. The general nonlinear model is transformed into the quasi-LPV model, then the equivalent polytopic LPV model and disturbed Linear time-invariant (LTI) model are obtained. Therefore, a finite-horizon interpolation MPC algorithm based ellipsoidal invariant set (EIS) is proposed. For comparison, the existing zero-horizon interpolation MPC algorithm, based on EIS, is also described to display the advantages of proposed algorithm. By virtue of the finite-horizon technique, the feasible region of proposed algorithm is much larger than zero-horizon interpolation MPC algorithm. An illustrative example is given to verify the effectiveness of proposed algorithms.