Mixed H 2 /H ∞ model predictive control for systems with energy-bounded disturbance

This paper designs a mixed H 2 /H ∞ model predictive algorithm for systems with energy-bounded disturbance. The formulation of H 2 /H ∞ performance in previous work is improved by introducing a slack variable. Furthermore, we decouple the formulation of H 2 /H ∞ performance from the formulation of input and state constraints by dilated LMI technique. These two aspects are combined to develop a less conservative control algorithm. Recursive feasibility of the algorithm is able to be proved and stability of the controlled system is ensured. Numerical example shows the effectiveness of the proposed algorithm.