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This paper presents a real-time MPC-based tracking strategy for linear systems subject to time-varying constraints. The framework is quite general since time-varying constraints in the state and in the input are considered. To handle the problem, a polytopic invariant set computed offline is homogeneously dilated and contracted on-line to fit the polytopic time-varying constraints, and used as an...
This paper proposes some ultimate bounded stability analysis and stabilization conditions for systems involving actuators with different nonlinear elements, like for instance both saturation and dead-zone or both saturation and stick–slip. Results are based on the use of a convex differential inclusion approach. Indeed, an adequate property allowing to upper-bound some product terms related to the...
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