Model-Based Systems Engineering Colloquium
A Step Beyond The State Of The Art Robust Model Predictive Control Synthesis Methods
Sasa V. Rakovic
University of Maryland
The talk is concerned with a novel robust model predictive control synthesis method termed parameterized tube model predictive control. This novel proposal supersedes the state of the art robust model predictive control algorithms including the several generations of tube model predictive control as well as robust model predictive control utilizing the so-called disturbance affine control policy. Our method allows uniquely for simultaneous online optimization of state and control tubes as well as the corresponding control policy via single linear/quadratic programme. The employed parameterization of the state and control tubes and the associated induced control policy offers greater generality compared to competing methods while it retains the desirable degree of computational tractability. Under rather mild and natural assumptions, the proposed parameterized tube model predictive control provides a-priori guarantees of the desirable strong system theoretic properties including relevant set invariance and robust stability properties. We also deliver several illustrative examples demonstrating clear advantages over the state of the art robust model predictive control synthesis methods.
Sasa V. Rakovic received the PhD degree in Control Theory from Imperial College London. His PhD thesis, "Robust Control of Constrained Discrete Time Systems: Characterization and Implementation," was awarded the Eryl Cadwaladr Davies Prize as the best PhD thesis in the Electrical and Electronic Engineering Department of Imperial College London in 2005. He held posts of a Research Associate at Imperial College London, a Postdoctoral Researcher at the ETH Zurich and a Scientific Associate at the Otto-von-Guericke--University of Magdeburg. He has also been a Visiting Academic Fellow at the Department of Engineering Sciences of the University of Oxford, UK and a Temporary Member of the Senior Common Room of the St Edmund Hall, Oxford. He has joined the University of Maryland, College Park, USA, as a Visiting Assistant Professor from February 2012. His main research interests and contributions lie within the areas of control synthesis and analysis as well as decision making under constraints and uncertainty.