Constrained feedback RMPC for systems with structured uncertainties and time delays

In this paper, an approach to design on-line robust model predictive control (RMPC) for time-delayed systems with structured uncertainties is proposed, where an uncertain time-varying input delay and multiple fixed state delays are included. By invoking the augmented state, a new system description with no input delay is introduced. For the resulting augmented systems with state delays, multi-step feedback control laws are utilized which guarantee both the satisfaction of input and state constraints and closed-loop stability. Finally a numerical example is given to illustrate the effectiveness of the proposed approach.