Robust model predictive control for nonlinear discrete‐time systems

Abstract This paper describes a model predictive control (MPC) algorithm for the solution of a state‐feedback robust control problem for discrete‐time nonlinear systems. The control law is obtained through the solution of a finite‐horizon dynamic game and guarantees robust stability in the face of a class of bounded disturbances and/or parameter uncertainties. A simulation example is reported to show the applicability of the method. Copyright © 2003 John Wiley & Sons, Ltd.