Robust predictive control by zonotopic set-membership estimation.
type: Distribution
access URL: https://theses.hal.science/tel-00765444
format: HTML
issued: 2026-05-31T00:02:25.413344
modified: 2026-05-31T00:02:25.328007

Robust predictive control by zonotopic set-membership estimation.
type: Dataset
contact point: Organization
  fn: CCSD
keyword: infoeu-reposemanticsdoctoralthesis
keyword: model-predictive-control
keyword: estimation-ensembliste
keyword: zonotope
keyword: commande-predictive
keyword: uncertain-system
keyword: systeme-incertain
keyword: set-membership-estimation
keyword: theses
keyword: spiotherengineering-sciences-physicsother
landing page: https://theses.hal.science/tel-00765444
description: The aim of this thesis is answering to two significant problems in the field of automatic control: the state estimation and the robust model predictive control for uncertain systems in the presence of input and state constraints, based on the set-membership approach, more precisely related to zonotopic sets. Uncertainties acting on the system are modeled via the deterministic approach, and thus they are unknown but bounded by a known set.In this context, the first part of the thesis proposes an estimation method to compute a zonotope containing the real states of the system, which are consistent with the disturbances, the measurement noise and the interval parametric uncertainties. This method is based on the minimization of the P-radius of a zonotope, which is an original criterion to characterize the size of the zonotope, in order to obtain a good trade-off between the complexity and the precision of the estimation. This approach is first developed for single-output systems, and then extended to the case of multi-output systems. The first solution for multi-output systems is a direct extension of the solution for single-output systems (the multi-output system being considered as several single-output systems). Another solution is then proposed, leading to solve a Polynomial Matrix Inequality optimization problem using a relaxation technique. Due to the fact that the previous approaches are just extensions of the solution for a single-output system, and despite their good performance results obtained in simulation, a novel approach dedicated to multi-output systems based on the intersection of a polytope and a zonotope is finally developed and validated.The second part of the thesis deals with the problem of robust output feedback control for uncertain systems. Model predictive control is chosen due to its use in many areas, its ability to deal with constraints and uncertainties. Among the approaches from the literature, the implementation of robust predictive tech…
identifier: NNT: 2012SUPL0016
issued: 2026-05-31T00:02:25.378977
language: en
modified: 2026-05-31T00:02:25.378983

test_moissonnage_selune
type: Agent