Geodesic
Robust Predictive Control Using a Time-Varying Youla Parameter
International Journal of Applied Mathematics and Computer Science, Tome 9 (1999) no. 1, pp. 101-128.

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In this paper, a standard predictive control problem (SPCP) is formulated, which consists of one extended process description with a feedback uncertainty block. The most important finite horizon predictive control problems can be seen as special realizations of this SPCP. The SPCP and its solution are given in a state-space form. The objective of the controller is a nominal performance subject to signal constraints and robust stability with respect to a 1-norm bounded model uncertainty. The optimal controller consists of a feedforward part for nominal signal tracking and a feedback part for disturbance rejection and model error compensation. The feedforward part is realized by the predictive controller for the nominal disturbance-free case. The feedback part of the controller is realized by using the Youla parametrization. The Youla parameter is optimized at every sample time in a receding horizon setting to cope with signal constraints and (robust stability) constraints on the operator itself.
Keywords: predictive control, Youla parametrization, stability, robustness
Mots-clés : sterowanie predykcyjne, stabilność, niezawodność 
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     title = {Robust {Predictive} {Control} {Using} a {Time-Varying} {Youla} {Parameter}},
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Van den Boom, T. J. J.; De Vries, R. A. J. Robust Predictive Control Using a Time-Varying Youla Parameter. International Journal of Applied Mathematics and Computer Science, Tome 9 (1999) no. 1, pp. 101-128. http://geodesic.mathdoc.fr/item/IJAMCS_1999_9_1_a3/