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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
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