Microsoft Word - MPCpaper1390.9.19

This paper addresses a robust predictive control of additive discrete time uncertain nonlinear systems. The controller design is characterized as an optimization problem of the “worst-case” objective function over an infinite moving horizon. A sufficient state feedback synthesis condition is provided in the form of a linear matrix inequality (LMI) optimization and will be solved online at each time step. A simulation example is exploited to illustrate the applicability of the proposed approach.