Robust model predictive controller for uncertain systems modelled by orthonormal Laguerre functions

Abstract

This paper aims to synthesize a new method for robust predictive control of a class of linear discrete-time uncertain systems represented by Laguerre orthonormal functions. This controller adopts a worst-case strategy solved by a min max optimization problem taking into account the constraints relative to parameter uncertainties of the resulting Laguerre model and to measurement signals. In order to ensure a significant reduction of the Laguerre model coefficients, a new algorithm is developed to select the optimal Laguerre model. The unknown but bounded error approach is used to update the parameter domain selected as an ellipsoid. The effectiveness of the robust controller is shown by an example of simulation.