Design of robust constrained model‐predictive controllers with volterra series

Sufficient conditions are developed in this work for robust stability and pefformance of nonlinear model‐predictive control systems that use an end‐condition and second‐order Volterra model with parametric uncertainty in the time domain. The robust stabilfly conditions involve the lengths of the prediction and control horizons, as well as the coefficients of the control move suppression terms in the on‐line objective function. These conditions may be used for both analysis and synthesis purposes. A case study of a chemical reactor is presented to elucidate these issues.