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A robust MPC for constrained nonlinear system with uncertainties is presented. Uncertain evolution sets are used to predict the evolution of the system under any admisible uncertainty. The robust stability is guaranteed by a terminal and contractive constraint that drives the system to a robust positively invariant set. A new method to calculate the uncertain evolution sets is used. The method uses...
This paper presents a predictor based approach to design robust controllers for nonlinear dead-time systems. A dead-time compensation structure is proposed for constrained control systems with bounded disturbances and dead-time. It is shown that input-to-state stability (ISS) and constraint satisfaction of the controlled system can be guaranteed if the control law stabilizes (in the ISS sense) an...
This paper presents the application of a robust tube-based MPC for tracking of piece-wise constant references to a plant based on the quadruple-tank process . This controller, defined for LTI system subject to additive and bounded disturbances, ensures: (i) the feasibility for any admissible setpoint, (ii) the robust constraint satisfaction, (iii) robust stability and convergence to (a neighborhood...
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