Towards robust predictive control for non-linear discrete time system

Abstract

The paper is devoted to the issue of a robust predictive control for a class of non-linear discrete-time systems with an application of an ellipsoidal inner-bounding of a robust invariant set. The crucial issue is to maintain the state of the system inside the robust invariant feasible set, which is a set of states guaranteeing the stability of the proposed control strategy. The approach presented in this paper starts with a robust control design. In case the robust control does not provide expected results, which means that the current state does not belong to the robust invariant set, then a suitable predictive control action is performed in order to enhance the ellipsoidal invariant set. This appealing phenomenon makes it possible to enlarge the domain of attraction of the system that makes the proposed approach an efficient solution to the model predictive control problem.