2019 18th European Control Conference (ECC) | 2019
Interpolating Control Toolbox (ICT)
Abstract
Interpolating control toolbox (ICT) is a free and open-source MATLAB toolbox that implements interpolation-based control (IC) for time-invariant and uncertain time-varying linear discrete-time systems with local state and control constraints. The toolbox combines geometrical features to compute robust invariant sets offline and solves a linear programming problem to compute the required IC online. This paper provides an overview on interpolating control and shows how to use ICT to robustly control input centralised and input decentralised interconnected systems. ICT includes some demo files to compare the performance of centralised versus decentralised IC.