Stabilizing Model Predictive Control Synthesis using Integral Quadratic
Constraints and Full-Block Multipliers*
Abstract
In this paper, we discuss how to synthesize stabilizing Model Predictive
Control (MPC) algorithms based on convexly parameterized Integral
Quadratic Constraints (IQCs), with the aid of general multipliers.
Specifically, we consider Lur’e systems subject to sector-bounded and
slope-restricted nonlinearities. As the main novelty, we introduce
point-wise IQCs with storage in order to accordingly generate the MPC
terminal ingredients, thus enabling closed-loop stability, strict
dissipativity with regard to the nonlinear feedback, and recursive
feasibility of the optimization. Specifically, we consider formulations
involving both static and dynamic multipliers, and provide corresponding
algorithms for the synthesis procedures. The major benefit of the
proposed approach resides in the flexibility of the IQC framework, which
is capable to deal with many classes of uncertainties and
nonlinearities. Moreover, for the considered class of nonlinearities,
our method yields larger regions of attraction of the synthesized
predictive controllers (with reduced conservatism) if compared to the
standard approach to deal with sector constraints from the literature.