Robust nonlinear predictive control using feedback linearization and linear matrix inequalities

This paper combines two features that has proven to be valuable in robust and nonlinear predictive control, namely feedback linearization and LMI-based predictive controller design. The algorithm consists of three steps, first a feedback linearization, secondly the derivation of an uncertainty description and finally the LMI-based optimization. A simulation example shows the effect of the feedback linearization step.