Flexible-step MPC for Switched Linear Systems with No Quadratic Common Lyapunov Function
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arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866910948665589760 |
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| author | Fürnsinn, Annika Ebenbauer, Christian Gharesifard, Bahman |
| author_facet | Fürnsinn, Annika Ebenbauer, Christian Gharesifard, Bahman |
| contents | In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, recently introduced in [2], when restricted to the class of linear systems. Specifically, we show that a set of Linear Matrix Inequalities (LMIs) can be used for this purpose, demonstrating its tractability. The main consequence of this LMI formulation is that, when combined with flexible-step MPC, we can effectively stabilize switched control systems, for which no quadratic common Lyapunov function exists. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_07870 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Flexible-step MPC for Switched Linear Systems with No Quadratic Common Lyapunov Function Fürnsinn, Annika Ebenbauer, Christian Gharesifard, Bahman Optimization and Control In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, recently introduced in [2], when restricted to the class of linear systems. Specifically, we show that a set of Linear Matrix Inequalities (LMIs) can be used for this purpose, demonstrating its tractability. The main consequence of this LMI formulation is that, when combined with flexible-step MPC, we can effectively stabilize switched control systems, for which no quadratic common Lyapunov function exists. |
| title | Flexible-step MPC for Switched Linear Systems with No Quadratic Common Lyapunov Function |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2404.07870 |