Robust multi-model predictive control using LMIs

  • Paola Falugi
  • Sorin OlaruEmail author
  • Didier Dumur
Technical Notes and Correspondence


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


Control of constrained nonlinear systems LMIs model predictive control 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  1. 1.SUPELEC, Automatic Control DepartmentPlateau de MoulonGif sur Yvette cedexFrance

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