On Robust Model Predictive Control of Disturbed Nonlinear Systems using Linear Matrix Inequalities

The robust Model predictive control design of an uncertain nonlinear system is challenging due to the estimated Model and optimization, stability problem. This paper’s main objective is to propose a controller being the framework of the term is handled the bounded disturbances, and a state feedback control law for the equivalent nominal system is obtained via solving an optimization problem of an infinite horizon quadratic cost function in the framework of linear matrix inequalities. The input state stability (ISS) is given by considering the error between the trajectories of this system and the coresponding nominal system. The Lyapunov stability theory based theoretical analysis and inequality estimations as well as simulation study is performed to demonstrate the proposed algorithm’s performance for an inverted pendulum system.