IEEE Transactions on Automatic Control, Vol.54, No.7, 1618-1622, 2009
Robust Nonlinear Model Predictive Control With Variable Block Length
Robust model predictive controllers for discrete-time non-linear systems are proposed in this technical note. The algorithms first search for an open-loop controller with some block length, and then try to improve it in a closed-loop fashion by solving minimax problems on-line. It is proved that the controllers are capable of making a subsequence of the state converge into a target set in the presence of bounded disturbances.
Keywords:Model predictive control (MPC)