Covariance Control for a class of Stochastic Discrete-time Linear Systems using the S-Variable Approach

Authors

Kaouther Moussa, Dimitri Peaucelle

Categories

Abstract

This paper deals with the problem of covariance control for a class of linear stochastic discrete-time systems in the Stochastic Model Predictive Control (SMPC) framework. The considered systems are affected by independent and identically distributed (i.i.d.) additive and parametric stochastic uncertainties (potentially unbounded), in addition to polytopic deterministic uncertainties bounding the mean of the state and input parameters. The control design conditions presented in this paper are formulated as Linear Matrix Inequalities (LMIs), using the S-variable approach in order to reduce the potential conservatism. These conditions are derived using a deterministic exact characterization of the covariance dynamics, the latter involves bilinear terms in the control gain. A technique to linearize such dynamics is presented, it results in a descriptor representation allowing to derive sufficient conditions for covariance control design. The derived condition is firstly compared to a known necessary and sufficient stability condition for systems without deterministic uncertainties and additive stochastic noise, although more conservative, it turns out to be more numerically tractable. Then, the same condition is used to design controllers that are robust to both deterministic and stochastic uncertainties. Several numerical examples are presented for comparison and illustration.