Computation of Input Disturbance Sets for Constrained Output Reachability

• 成果类型: Article
• 署名作者: Mulagaleti, Sampath Kumar; Bemporad, Alberto; Zanon, Mario
• 署名单位: IMT School for Advanced Studies Lucca
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2022.3187853
• 发表日期: 2023
• 页码: 3573-3580
• 关键词: Economic indicators; optimization; actuators; Linear matrix inequalities; computational modeling; Task analysis; Additives; Constrained linear systems; disturbance sets; invariant sets

摘要

Linear models with additive unknown-but-bounded input disturbances are extensively used to model uncertainty in robust control system design. Typically, the disturbance set is either assumed to be known a priori or estimated from data through set-membership identification. However, the problem of computing a suitable input disturbance set in case the set of possible output values is assigned a priori has received relatively little attention. This problem arises in many contexts, such as in supervisory control, actuator design, decentralized control, and others. In this article, we propose a method to compute input disturbance sets (and the corresponding set of states) such that the resulting set of outputs matches as closely as possible a given set of outputs, while additionally satisfying strict (inner or outer) inclusion constraints. We formulate the problem as an optimization problem by relying on the concept of robust invariance. The effectiveness of the approach is demonstrated in numerical examples that illustrate how to solve safe reference set and input constraint set computation problems.