FULFILLING HARD CONSTRAINTS IN UNCERTAIN LINEAR-SYSTEMS BY REFERENCE MANAGING

A method based on conceptual tools of predictive control is described for tackling tracking problems of uncertain linear systems wherein poi ntwise-in-time input and/or state inequality constraints are present. The method consists of adding to a primal compensated system a nonline ar device called predictive reference filter which manipulates the des ired reference in order to fulfill the prescribed constraints. Provide d that an admissibility condition on the initial state is satisfied, t he control scheme is proved to fulfill the constraints, as well as sta bility and set-point tracking requirements, for all systems whose impu lse/step responses lie within given uncertainty ranges. (C) 1998 Elsev ier Science Ltd. All rights reserved.