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Mateus dos S. Meneses
Departamento de Robótica, SENAI CIMATEC, BA
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Bruno S. S. Pereira
Departamento de Engenharia Elétrica e de Computação, Universidade Federal da Bahia
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Lucas C. da Silva
Departamento de Robótica, SENAI CIMATEC, BA
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Tito L. M. Santos
Departamento de Engenharia Elétrica e de Computação, Universidade Federal da Bahia
Keywords:
Time-varying delay, Robustness, Future References, Time-delay systems, Predictive control
Abstract
This paper presents the combination of a stability criterion for systems with time- varying delay and an unconstrained MPC for linear systems with future reference. The future reference knowledge is useful in some applications as the current control action is defined by taking into account a future prediction error. However, this kind of solution is typically achieved with MPC controllers based on optimization based solutions. In this work, the unconstrained solution of a linear MPC is obtained and analyzed to deal with systems with time-varying delay. An illustration case study is presented to illustrate the usefulness of the proposed analysis approach.
