A tool to analyze robust stability for constrained nonlinear MPC

• Author(s): Santos, Lino O. ; Biegler, Lorenz T. ; Castro, José A. A. M.
• Date: 2008
• Persistent ID: http://hdl.handle.net/10316/3777
• Origin: Estudo Geral - Universidade de Coimbra
• Subject(s): Nonlinear model predictive control; Robust stability; Sensitivity analysis
• Document Type: Article
• Language: English

Description

A sufficient condition for robust asymptotic stability of nonlinear constrained model predictive control (MPC) is derived with respect to plant/model mismatch. This work is an extension of a previous study on the unconstrained nonlinear MPC problem, and is based on nonlinear programming sensitivity concepts. It addresses the discrete time state feedback problem with all states measured. A strategy to estimate bounds on the plant/model mismatch is proposed that can be used off-line as a tool to assess the extent of model mismatch that can be tolerated to guarantee robust stability. http://www.sciencedirect.com/science/article/B6V4N-4R7F42T-2/1/7729956156701c2970c6a488f9298845