Tube-based robust model predictive control for constrained continuous-time nonlinear systems

This paper addresses tube-based robust model predictive control (RMPC) for constrained continuous-time nonlinear systems with additive uncertainties. The RMPC is designed based on a linear feedback term and a model predictive control (MPC) for a continuous-time nonlinear system. Firstly, a robust control invariant set is explicitly given for the error system between the nonlinear system and its nominal system. Then, the tube-based MPC is designed for the considered continuous-time nonlinear system. Furthermore, the feasibility of the RMPC and robust stability of the closed-loop control system are analyzed. Finally, the applications of the RMPC to a cart-damper-springer system verifies the theoretical results.