Model predictive control of linear systems with preview information: feasibility, stability and inherent robustness
For control engineers designing MPC for systems with previewable disturbances, this work provides a theoretical framework to guarantee stability and feasibility.
This paper addresses the loss of recursive feasibility and stability in model predictive control when using disturbance predictions, and proposes modified terminal conditions that restore robust stability and feasibility under bounded disturbance changes.
The use of available disturbance predictions within a nominal model predictive control formulation is studied. The main challenge that arises is the loss of recursive feasibility and stability guarantees when a persistent disturbance is present in the model and on the system. We show how standard stabilizing terminal conditions may be modified to account for the use of disturbances in the prediction model. Robust stability and feasibility are established under the assumption that the disturbance change across sampling instances is limited.