Computation of Input Disturbance Sets for Constrained Output Reachability

TL;DR

This paper introduces a method to compute input disturbance sets for linear systems that ensure output sets match desired specifications, using robust invariance and optimization techniques.

Contribution

It proposes a novel approach to determine input disturbance sets based on output set specifications, addressing a gap in existing robust control methods.

Findings

Effective in matching output sets with input disturbance sets.

Applicable to safe reference set and input-constraint set computation.

Demonstrated through numerical examples.

Abstract

Linear models with additive unknown-but-bounded input disturbances are extensively used to model uncertainty in robust control systems design. Typically, the disturbance set is either assumed to be known a priori or estimated from data through set-membership identification. However, the problem of computing a suitable input disturbance set in case the set of possible output values is assigned a priori has received relatively little attention. This problem arises in many contexts, such as in supervisory control, actuator design, decentralized control, and others. In this paper, we propose a method to compute input disturbance sets (and the corresponding set of states) such that the resulting set of outputs matches as closely as possible a given set of outputs, while additionally satisfying strict (inner or outer) inclusion constraints. We formulate the problem as an optimization problem by relying on the concept of robust invariance. The effectiveness of the approach is demonstrated in numerical examples that illustrate how to solve safe reference set and input-constraint set computation problems.