Yet Another Algorithm for the Computation of Polyhedral Positive Invariant Sets

Daniel Rubin1, Hoai-Nam Nguyen, Per-Olof Gutman

  • 1Technion ? Israel Institute of Technology

Details

11:00 - 11:20 | Thu 23 Aug | Frederik | ThA4.4

Session: Predictive Control

Abstract

We present a new algorithm for the computation of polyhedral positive invariant sets. A set given by its half-spaces is used to yield an optimized positive invariant set w.r.t. a given autonomous system. The algorithm requires the solution of a single semi-deļ¬nite program followed by a linear program. Extensions to the plant uncertain case, and to a symmetric set case are presented. Two numerical examples demonstrate the algorithm usage and capabilities.