Robust multi-model predictive control using LMIs ⋆

This paper proposes a novel robust predictive control synthesis technique for constrained nonlinear systems based on linear matrix inequalities (LMIs) formalism. Local discrete-time polytopic models have been exploited for prediction of the system behavior. This design strategy can be applied to a wide class of nonlinear systems provided a suitable embedding is available. The devised procedure guarantees constraint satisfaction and asymptotic stability. The proposed result extends previous works by allowing different local descriptions of nonlinearity and uncertainty and by handling less conservative input constraints. The multimodel prediction shows significant improvements in terms of closed-loop performance and estimation of the feasibility domain.