Robust Constrained Receding Horizon Control for Linear Time-Varying Systems with Delays

A robust infinite horizon receding horizon control (RHC) for linear time-Varying systems with delays synthesized. Known, Constant, deterministic time delays are assumed to be present in both the state and input,. The control input is subject to hard, symmetric constraints. Polytopic uncertainty, which is assumed to be obtained from e.g. input/output data, at different operating points of a non-linear plant, is considered. At each time step, a robustly stabilizing, state-feedback control law is designed which minimizes a worst-case (infinite horizon) objective function. The numerically intractable minimax problem is relaxed to a series of linear matrix inequalities (LMIs) using widely known convex optimization techniques. Two examples arc presented to illustrate the control design procedure. The first is a simple second order system for illustrative purposes whilst the second is an experimental heat transfer set-up. Potential extensions are discussed such as disturbance Meddling, reference tracking, gain scheduling and Lyapunov-Krasovskii functionals which consider systems with variable time delay in both state and input. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.