Model predictive control of linear systems with preview information: feasibility, stability and inherent robustness

TL;DR

This paper investigates how to incorporate disturbance preview information into model predictive control for linear systems, ensuring stability and feasibility despite persistent disturbances by modifying terminal conditions.

Contribution

It introduces modified stabilizing terminal conditions that maintain robustness and feasibility in MPC when disturbances are predicted and vary within limits.

Findings

Robust stability is achieved under limited disturbance variation.

Feasibility is maintained with modified terminal conditions.

The approach extends MPC applicability to systems with disturbance predictions.

Abstract

The use of available disturbance predictions within a nominal model predictive control formulation is studied. The main challenge that arises is the loss of recursive feasibility and stability guarantees when a persistent disturbance is present in the model and on the system. We show how standard stabilizing terminal conditions may be modified to account for the use of disturbances in the prediction model. Robust stability and feasibility are established under the assumption that the disturbance change across sampling instances is limited.