A globally stabilizing receding horizon controller for neutrally stable linear systems with input constraints

Ali Jadbabaie, Claudio De Persis, Tae Woong Yoon

Research output: Contribution to journalConference article

5 Citations (Scopus)

Abstract

It is well known that exponentially unstable linear systems can not be globally stabilized in the presence of input constraints. In the case where the linear system is neutrally stable, one can achieve global asymptotic stability using a particular Control Lyapunov Function (CLF)-based controller. Using this particular CLF as terminal cost in a receding horizon scheme, we obtain a receding horizon controller which globally stabilizes such systems. Contrary to previous results, the horizon length is fixed, and can be chosen arbitrarily. The resulting controller also outperforms the CLF controller, since it provides a lower cost as measured by a quadratic performance index.

Original languageEnglish
Pages (from-to)1096-1100
Number of pages5
JournalProceedings of the IEEE Conference on Decision and Control
Volume1
Publication statusPublished - 2002
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: 2002 Dec 102002 Dec 13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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