Summer Course on Tube Model Predictive Control
24–28 September 2018
Lecturer: Saša V. Raković, Ph.D. DIC
The workshop will take place in building G-07 at the Otto von Guericke University Magdeburg. The lecture room is 208 on the second floor.
Abstract
This short course deals with a recently developed Model Predictive Control (MPC) method for uncertain systems. In the presence of uncertainties, it necessary to replace the predicted state and control sequences by the sets of possible states and controls due to the spread of trajectories caused by the uncertainty. This results in state and control “tubes” which represent either the exact or outer-bounding sequences of the sets of possible states and associated controls. The tubes allow for generalized but natural predictions based on which it is possible to guarantee the robust state and control constraint satisfaction for the controlled uncertain state sequences and the associated sequences of control actions. The tube MPC resembles the classical MPC in that the prediction paradigm remains the same but with a major difference that the role of the state and control sequences is played by the state and control tubes. The adequate state-control tube and the associated control policy parameterizations lead to a computationally highly attractive tube MPC synthesis, which under mild and natural conditions, induces strong system theoretic properties of the controlled, constrained, uncertain dynamics. Topics covered in the short course include:- Control Synthesis Under Constraints: Basics
- Control Synthesis Under Constraints and Uncertainty: Basics
- Model Predictive Control: Basics
- Tube Model Predictive Control
Time Schedule
- 09:15-11:00 Morning Lectures (incl. short Break)
- 11:00-13:15 Lunch Break
- 13:15-16:00 Afternoon Lecture and Exercise (incl. short Break)
Social Gathering
On Tuesday evening (25th of September, 18:30) a self-paid social gathering takes place in the restaurant and bar Magado .Preliminary Program
This is a specialized lecture course on tube model predictive control. The course main themes are stability and robustness considerations in model predictive control. The structure of the course is a 5 days course with 3 lectures per day, which is also supported with daily exercises, expected, but tentative, number of which is 1 per day. The themes of the course concerned with model predictive control for systems with constraints and uncertainty, encapsulate- Controllability and Reachability.
- Invariance and Stability.
- Open Loop Optimal Control and Model Predictive Control.
- Controllability and Reachability Under Uncertainty.
- Invariance and Stability Under Uncertainty.
- Closed Loop Optimal Control.
- Robust Model Predictive Control.
- Tube Model Predictive Control.
- Day I
- 1) Controllability and Reachability.
- 2) Invariance and Stability.
- 3) Optimal Control.
- Day II
- 4) Model Predictive Control.
- 5) Controllability and Reachability Under Uncertainty.
- 6) Invariance and Stability Under Uncertainty.
- Day III
- 7) Optimal Control Under Uncertainty.
- 8) Model Predictive Control Under Uncertainty.
- 9) Tube Model Predictive Control with Time-varying Tubes.
- Day IV
- 10) Rigid Tube Model Predictive Control.
- 11) Homothetic Tube Model Predictive Control.
- 12) Elastic Tube Model Predictive Control.
- Day V
- 13) Tube Model Predictive Control with Optimized Time-varying Tubes
- 14) Parameterized Tube Model Predictive Control.
- 15) Tube Model Predictive Control: Output feedback, Nonlinearity and Structured Uncertainty Aspects.
Biographical Information
Dr. Saša V. Raković received the Ph.D. degree in Control Theory from Imperial College London. His Ph.D. thesis, entitled “Robust Control of Constrained Discrete Time Systems: Characterization and Implementation”, was awarded the Eryl Cadwaladr Davies Prize as the best Ph.D. thesis in the Electrical and Electronic Engineering Department of Imperial College London in 2005. (This award is presented annually to the Ph.D. student who produces the best thesis during the academic year.) Dr. Saša V. Raković has been affiliated with a number of the leading international universities, including Imperial College London, ETH Zürich, Oxford University, UMD at College Park, UT at Austin and Texas A&M University at College Station. Dr. Saša V. Raković’s research spans the broad areas of artificial intelligence, autonomy, controls, dynamics, systems, applied mathematics, optimization and set-valued analysis. His current research activity is focused on problems encountered in the fields of smart autonomous and cyber-physical systems, and which belong to the intersection of artificial intelligence, controls, dynamics, systems and optimization. Dr. Saša V. Raković has authored 97 publications, most of which are highly cited (i.e., more than 4000 citations according to Google Scholar) and are published in leading international journals and proceedings of key conferences in thefields of control theory and engineering. Dr. Saša V. Raković is best known for his research in model predictive control that has made significant contributions to theory, computation and implementation of conventional, robust and stochastic model predictive control. Dr. Saša V. Raković is one of the global leaders in robust model predictive control, and one of the key pioneers of the tube model predictive control framework. Tube model predictive control has been recognized as a milestone contribution to, and a major paradigm shift in, model predictive control under uncertainty. Dr. Saša V. Raković’s most important work in analysis of dynamics and control synthesis via optimization and set–valued methods has dealt with previously long–standing problems. In particular, Zvi Artstein and Saša V. Raković have resolved important problems concerned with minimality of invariant sets and set invariance under output feedback. Dr. Saša V. Raković has also significantly expanded classical results on the linear quadratic Lyapunov equations by developing theory and computations for Minkowski-Lyapunov equations, namely Lyapunov equations within the class of generic vector semi–norms.Participation
- The course will take place from 24–28 September 2018 at the Otto von Guericke University Magdeburg.
- The course is open to all interested students and researchers.
- There is a registration fee of 75 EUR.
- All participants will receive a confirmation of participation letter that can often also be used to get academic credit points at universities, graduate schools, etc.
- Please register before 14 September 2018, to allow us to plan the course in more detail.
Registration
If you are interested to participate in this summer course or have further questions, please register contact Petar Andonov or Janine Matschek: petar.andonov@ovgu.de or janine.matschek@ovgu.de.Register fee payment can be made via banktransfer to: Otto-von-Guericke-Universitaet, Universitaetsplatz 2, 39106 Magdeburg, IBAN DE64 8100 0000 0081 0015 02, Deutsche Bundesbank, Filiale Magdeburg, Verwendungszweck 80 3703 1001.
Location and directions
For accommodation, we recommend staying at the Motel One or the B&B Hotel (under 2km from the university campus). For the directions from Motel One to our campus please see this map.If you are traveling by car, please contact us to issue a parking card.
