7 papers · 1 filter
Robust Control of Constrained Linear Systems using Online Convex Optimization and a Reference Governor
Marko Nonhoff, Mohammad Taher Al Torshan, Matthias A. Müller
This article develops a control method for linear time-invariant systems subject to time-varying and a priori unknown cost functions, that satisfies state and input constraints, an…
Output-feedback model predictive control under dynamic uncertainties using integral quadratic constraints
Lukas Schwenkel, Johannes Köhler, Matthias A. Müller +1
In this work, we propose an output-feedback tube-based model predictive control (MPC) scheme for linear systems under dynamic uncertainties that are described via integral quadrati…
Online convex optimization for constrained control of nonlinear systems
Marko Nonhoff, Johannes Köhler, Matthias A. Müller
This paper proposes a modular approach that combines the online convex optimization framework and reference governors to solve a constrained control problem featuring time-varying…
Robust peak-to-peak gain analysis using integral quadratic constraints
Lukas Schwenkel, Johannes Köhler, Matthias A. Müller +1
This work provides a framework to compute an upper bound on the robust peak-to-peak gain of discrete-time uncertain linear systems using integral quadratic constraints (IQCs). Such…
Robust Economic Model Predictive Control without Terminal Conditions
Lukas Schwenkel, Johannes Köhler, Matthias A. Müller +1
In this paper, a novel tube-based economic Model Predictive Control (MPC) scheme for uncertain systems that uses neither terminal costs nor terminal constraints is investigated. We…
A nonlinear model predictive control framework using reference generic terminal ingredients -- extended version
Johannes Köhler, Matthias A. Müller, Frank Allgöwer
In this paper, we present a quasi infinite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This scheme is applicable to nonl…