Robust model predictive control for nonlinear discrete time systems.pdf

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL Int. J. Robust Nonlinear Control 2003; 13:229–246 (DOI: 10.1002/rnc.815) Robust model predictive control for nonlinear discrete-time systems n 1, ,y 1,z 1,} . 2,} L. Magni , G. De Nicolao , R. Scattolini and F. Allgoower 1 ! Dipartimento di Informatica e Sistemistica, Universitaa di Pavia, Via Ferrata 1, 27100 Pavia, Italy 2 Institute for Systems Theory in Engineering University of Stuttgart, 70550 Stuttgart, Germany SUMMARY This paper describes a model predictive control (MPC) algorithm for the solution of a state-feedback robust control problem for discrete-time nonlinear systems. The control law is obtained through the solution of a finite-horizon dynamic game and guarantees robust stability in the face of a class of bounded disturbances and/or parameter uncertainties. A simulation example is reported to show the applicability of the method. Copyright # 2003 John Wiley Sons, Ltd. KEY WORDS: nonlinear model predictive control; robust control; discrete-time systems 1. INTRODUCTION This paper is motivated by the problem of designing closed-loop controllers ensuring robust stability in the face of bounded disturbances and/or parameter uncertainties for discrete-time nonlinear systems. A classical way to address this problem is to resort to H1 control, see References [1–4], where a solution is presented for the state-feedback, the full-information, and the output-feedback case. The derivation of the H1 control