Lyapunov-Based Offset-free Model Predictive Control of Nonlinear Systems

Buddhadeva Das, Department of Chemical Engineering, McMaster University


07 November 2013 at 10:30

Location: JHE 326H

Abstract

This work considers the problem of control of nonlinear systems subject to uncertainty. To this end, a Lyapunov-based robust MPC design is integrated with a moving horizon based offset-free mechanism to enable improved closed--loop performance while still retaining the guarantees provided by the Lypunov-based robust MPC. Simulation results are presented to illustrate the key ideas of the proposed framework.

 


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