Automaton-based Implicit Controlled Invariant Set Computation for Discrete-Time Linear Systems.
CDC(2021)
摘要
In this paper, we derive closed-form expressions for implicit controlled invariant sets for discrete-time controllable linear systems with measurable disturbances. In particular, a disturbance-reactive (or disturbance feedback) controller in the form of a parameterized finite automaton is considered. We show that, for a class of automata, the robust positively invariant sets of the corresponding closed-loop systems can be expressed by a set of linear inequality constraints in the joint space of system states and controller parameters. This leads to an implicit representation of the invariant set in a lifted space. We further show how the same parameterization can be used to compute invariant sets when the disturbance is not available for measurement.
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关键词
robust positively invariant sets,closed-loop systems,linear inequality constraints,system states,controller parameters,implicit representation,automaton-based implicit controlled invariant set computation,discrete-time linear systems,closed-form expressions,implicit controlled invariant sets,discrete-time controllable linear systems,measurable disturbances,disturbance-reactive,or disturbance feedback,parameterized finite automaton
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