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. © 2007 Elsevier Ltd. All rights reserved.
Santos, L. O., Biegler, L. T., & Castro, J. A. A. M. (2008). A tool to analyze robust stability for constrained nonlinear MPC. Journal of Process Control, 18(3–4), 383–390. https://doi.org/10.1016/j.jprocont.2007.10.004