A Stabilizing Model Predictive Control for Nonlinear Fractional Order Systems with Polytopic Model

In this paper, a model predictive control (MPC) algorithm is proposed for a class of discrete-time nonlinear fractional order systems with input constraints. A polytopic linear model (PLM) is employed to approximate the nonlinear system. Moreover, a finite-dimensional approximation is utilized for the fractional order dynamics. To calculate the stabilizing state-feedback MPC law, a constrained min-max optimization problem is solved at each sampling instant over an infinite time horizon which guarantees the robust stability of the closed-loop system. The effectiveness of the proposed algorithm is validated by a simulation example.