Improvements on Interpolation Techniques based on Linear Programming for Constrained Control

We present some improvements on interpolation based control (IC) for linear discrete-time systems with polyhedral constraints on the control and the states variables. The plant may be uncertain, time-varying, and subject to bounded disturbances. Roughly speaking, IC approach is based on the interpolation between an inner and an outer controller. The extension presented here is twofold. On the one hand, the IC approach is extended to deal with higher order inner controllers, making it e.g. possible to incorporate integral action in a vicinity of the origin. On the other hand, this paper presents a modification that better exploits the control signal range. As with previous IC strategies, the presented method demands relatively low online computational resources, and is applicable also to uncertain plants. The benefits of the improved scheme are illustrated in some examples.