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Robust Stability Analysis of Nonlinear Discrete-Time Systems With Application to MPC

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3 Author(s)
Picasso, Bruno ; Dipt. di Elettron. e Inf., Politec. di Milano, Milan, Italy ; Desiderio, D. ; Scattolini, Riccardo

The regional Input-to-State Stability of nonlinear, possibly discontinuous, discrete-time systems is studied under the assumption that the equilibrium of the corresponding nominal model is asymptotically stable. The obtained results are used for the synthesis of a nominal Model Predictive Control law ensuring inherent robustness. A numerical example is reported that witnesses the effectiveness of the approach.

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Automatic Control, IEEE Transactions on  (Volume:57 ,  Issue: 1 )