Terminal set of min-max model predictive control with guaranteed ℒ2 performance

We present an approach to synthesize the terminal control law and the terminal set of nonlinear model predictive control with guaranteed ℒ
₂
performance, where a structured feedback uncertainty is considered. The terminal control law, which is obtained through the solution to a Hamilton-Jacobi-Bellman-Isaacs (HJBI) inequality of the Jacobian linearization of the original nonlinear system, renders the uncertain nonlinear system robust invariant in the terminal set.