TY - GEN
T1 - Approximation of PWA control laws using regular partitions : an ISS approach
AU - Genuit, B.A.G.
AU - Lu, L.
AU - Heemels, W.P.M.H.
PY - 2011
Y1 - 2011
N2 - Piecewise affine (PWA) feedback control laws defined on general polytopic partitions, as, for instance, obtained by explicit MPC, will often be prohibitively complex for application to fast systems. Therefore, we study the problem of approximating these high-complexity controllers by low-complexity PWA control laws defined on more regular partitions, facilitating faster on-line evaluation. The off-line approach is based on the existence of an input-to-state stable (ISS) Lyapunov function, which is exploited to obtain conditions that guarantee a priori asymptotic stability and constraint satisfaction of the resulting low-complexity control law. These conditions can be expressed as local semidefinite programs (SDPs) or linear programs (LPs), respectively, and apply to PWA plants.
AB - Piecewise affine (PWA) feedback control laws defined on general polytopic partitions, as, for instance, obtained by explicit MPC, will often be prohibitively complex for application to fast systems. Therefore, we study the problem of approximating these high-complexity controllers by low-complexity PWA control laws defined on more regular partitions, facilitating faster on-line evaluation. The off-line approach is based on the existence of an input-to-state stable (ISS) Lyapunov function, which is exploited to obtain conditions that guarantee a priori asymptotic stability and constraint satisfaction of the resulting low-complexity control law. These conditions can be expressed as local semidefinite programs (SDPs) or linear programs (LPs), respectively, and apply to PWA plants.
U2 - 10.3182/20110828-6-IT-1002.03182
DO - 10.3182/20110828-6-IT-1002.03182
M3 - Conference contribution
SN - 978-3-902661-93-7
SP - 4540
EP - 4545
BT - Proceedings of the 18th IFAC World Congress (IFAC 2011), 28 August - 2 September 2011, Milano, Italy
ER -