モデル予測制御方式を用いたスパース制御の実現

—制御則のオフライン計算とその表現法—

抄録

Model predictive control together with its offline computation is utilized for sparse control. Since a conventional type of sparse control is in an open-loop style, it is meaningful to realize it in a closed-loop style using the model predictive control scheme. Noting that the input of sparse control basically takes only three values, one needs to compute three sets in the state space so that membership of a state in one set implies which input value is to be given. These sets are not trivial to compute because they are neither polytopic nor convex in general. In this paper, a special coordinate transform is proposed for approximate computation of these sets with special attention on the approximation quality around the origin. The efficacy of the proposed method is illustrated by a numerical example.