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Robust Model Predictive Control With Integral Sliding Mode in Continuous-Time Sampled-Data Nonlinear Systems

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4 Author(s)
Rubagotti, M. ; Dept. of Mech. & Struct. Eng., Univ. of Trento, Trento, Italy ; Raimondo, D.M. ; Ferrara, A. ; Magni, L.

This paper proposes a control strategy for nonlinear constrained continuous-time uncertain systems which combines robust model predictive control (MPC) with sliding mode control (SMC). In particular, the so-called Integral SMC approach is used to produce a control action aimed to reduce the difference between the nominal predicted dynamics of the closed-loop system and the actual one. In this way, the MPC strategy can be designed on a system with a reduced uncertainty. In order to prove the stability of the overall control scheme, some general regional input-to-state practical stability results for continuous-time systems are proved.

Published in:

Automatic Control, IEEE Transactions on  (Volume:56 ,  Issue: 3 )