An Improved Approach for Robust MPC Tuning Based on Machine Learning

Algorithm 1

Calculation of the worst-case performance indices.

(1) Input: the uncertainty intervals , , nominal system , controller parameter set and , output reference ;

(2) Output: ;

(3) Divide the uncertain interval of , into equal parts;

(4) for do

(5)  for do

(6)   Transform the transfer function (, , ) into state space (, , );

(7)   ;

(8)   ;

(9)   ;

(10)   ;

(11)   ;

(12)  end for

(13)  ;

(14) end for