Robust nonlinear MPC based on simplified second-order Volterra series model

A robust nonlinear MPC was proposed for a class of nonlinear systems that can be modeled by a second-order Volterra series model with parametric uncertainty in the time domain, based on a simplified second-order Volterra series model. Sufficient conditions were developed for the robust stability of the closed-loop system. Compared with MPC using the regular second-order Volterra series model, computation burden is highly decreased without the cost of much performance degradation. To prove the conclusion, a local form of small gain theorem for discrete-time Volterra series systems was proposed. A case study of a chemical reactor was presented to show the effectiveness of the controller proposed.