Sampled-Data Model Predictive Control
José C. Geromel
Abstract
This article focuses on model predictive control (MPC) design in the context of sampled-data control systems with full-state measurements. It is shown that recent results on this area can be successfully generalized to cope with sampled-data MPC. The open-loop plant is subjected to polytopic parameter uncertainty and at sampling times, a controlled output variable satisfies a set of convex constraints. A guaranteed <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">${\mathcal H}_2$</tex-math></inline-formula> performance index with infinity horizon is minimized such that the feedback control preserves asymptotic stability and feasibility. The design conditions are expressed through differential linear matrix inequalities. Continuous-time systems are treated with no kind of discrete-time modeling approximation. Comparisons with classical methods from the literature dealing with continuous-time systems are presented and discussed. Examples are included for illustration.