Explicit MPC for multi-rate control systems

Abstract

In this paper, explicit model predictive control (MPC) schemes for discrete-time linear-invariant multi-rate systems with constraints on inputs and states are studied. The optimization problem of multi-rate predictive control systems can be formulated by solving a multiparametric linear program (mp-LP), and the explicit state feedback control laws are developed. Further, based on the closed-loop multi-rate piecewise affine (PWA) structure, stability analysis is presented by linear matrix inequality (LMI). The simulation results show the effectiveness of the explicit MPC for multi-rate system.