一种线性二次型调节器闭环稳定的充分条件及在预测控制中的应用
A Sufficient Condition for LQR to Stabilize Systems and its Application to Predictive Control
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摘要: 提出了终态松弛的线性二次型Kleinman调节器,给出并证明了该调节器保证系统 闭环稳定的一个充分条件.将结果用于预测控制的稳定性分析,得到选择代价函数中加权阵 的定量准则.Abstract: This paper proposes a free-final-state Kleinman LQR and a sufficient condition to ensure the close-loop stability with the regulator. By applying the result to the stability analysis of predictive control, a quantitative criterion is obtained to choose the weighting matrices in the cost function.
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Key words:
- LQR /
- stability /
- predictive control /
- receding horizon strategy
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