Simple Robust Control Invariant Tubes for Some Classes of Nonlinear Discrete Time Systems

This paper presents an extension of recently developed robust, tube based, model predictive controllers to some classes of nonlinear discrete time systems. The simplicity of the proposed robust controller design methodology is obtained by constructing simple robust control invariant tubes corresponding to the parameterized feedback control policy. The proposed method has reduced on-line computational complexity compared with standard worst case or min-max based design methods. The resultant controller allows for fairly strong robustness properties such as robust exponential convergence to and stability of the potentially minimal robust positively invariant set for the uncertain controlled system. A simple example illustrates the proposed method.