Off-Line Robust Constrained MPC for Linear Time-Varying Systems with Persistent Disturbances

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="936093.fig.002a" src="https://static.hindawi.com/articles/mpe/volume-2014/936093/figures/936093.fig.002a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Regulated output</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="936093.fig.002b" src="https://static.hindawi.com/articles/mpe/volume-2014/936093/figures/936093.fig.002b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Control input</td></tr></table></td></tr></table>

<table>The closed-loop responses of the system in Example <a href="https://static.hindawi.com/articles/mpe/volume-2014/936093/figures/#ex5.1">1</a> (a) regulated output and (b) control input.</table>

Mathematical Problems in Engineering

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Figure 2

Figure 2: Off-Line Robust Constrained MPC for Linear Time-Varying Systems with Persistent Disturbances 