Abstract
In Chap. 2, some basic results on Lyapunov-based control, model predictive control and Lyapunov-based model predictive control of nonlinear systems are first reviewed and then two Lyapunov-based model predictive control (LMPC) designs for systems subject to data losses and time-varying measurement delays are presented. In order to provide guaranteed closed-loop stability results, the constraints that define the LMPC optimization problems as well as the implementation procedures are carefully designed to account for data losses (or asynchronous measurements) and time-varying measurement delays. The presented LMPC designs possess an explicit characterization of the closed-loop system stability region. Using a nonlinear chemical reactor example, it is demonstrated that the presented LMPC approaches are robust to data losses and measurement delays.
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Christofides, P.D., Liu, J., Muñoz de la Peña, D. (2011). Lyapunov-Based Model Predictive Control. In: Networked and Distributed Predictive Control. Advances in Industrial Control. Springer, London. https://doi.org/10.1007/978-0-85729-582-8_2
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DOI: https://doi.org/10.1007/978-0-85729-582-8_2
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