Model predictive control of systems with actuator amplitude and rate saturation

Vikram Kapila, Sairam Valluri

Research output: Contribution to journalConference article

Abstract

In this paper we develop a continuous-time model predictive control (MPC) design procedure for single-input single-output linear systems with actuator amplitude and rate saturation. This design methodology formulates actuator amplitude and rate saturation problem as an equivalent amplitude saturation problem with system dynamics augmented by rate dynamics. It is shown that the MPC laws will have closed-form analytical solution in the limit that the prediction horizon is small. The stability analysis is performed using a Lyapunov function framework which results in a subset of domain of attraction for guaranteed closed-loop stability in the event of actuator amplitude and rate saturation. A numerical example is presented for illustrating the proposed control design methodology.

Original languageEnglish (US)
Pages (from-to)1396-1401
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2
StatePublished - 1998
EventProceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA
Duration: Dec 16 1998Dec 18 1998

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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