Lyapunov-based control: some new results and comparison with MPC

This paper presents new results on control of multivariable nonlinear systems with uncertain variables and input constraints using a Lyapunov-based approach. Specifically, we explicitly synthesize bounded robust multivariable control laws that enforce stability and robust asymptotic output tracking in the closed-loop system and provide an explicit characterization of the region of guaranteed closed-loop stability. The control method is successfully applied to a multivariable chemical reactor example with uncertainty and input constraints. Finally, we conclude the paper with a discussion that attempts to put in perspective the proposed Lyapunov-based approach with respect to the nonlinear model predictive control (MPC) approach for the control of uncertain nonlinear systems with constraints