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Robust Nonlinear Model Predictive Control With Variable Block Length

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1 Author(s)
Hanba, S. ; Dept. of Electr. & Electron. Eng., Univ. of the Ryukyus, Nishihara, Japan

Robust model predictive controllers for discrete-time nonlinear systems are proposed in this technical note. The algorithms first search for an open-loop controller with some block length, and then try to improve it in a closed-loop fashion by solving minimax problems on-line. It is proved that the controllers are capable of making a subsequence of the state converge into a target set in the presence of bounded disturbances.

Published in:

Automatic Control, IEEE Transactions on  (Volume:54 ,  Issue: 7 )