Closed-Loop Optimization Strategies for Additive Uncertainty

Abstract

The performance and constraint handling capabilities of a robust predictive control law are limited by the amount of information on future model uncertainty that is made available to the controller. However, the manner in which the controller uses this information is equally important. Although the realization of future model uncertainty is by definition unknown when a predicted future control trajectory is optimized, this information may be available to the controller at the future instant of time when the control law is implemented.