Input-to-state stabilizing MPC for constrained nonlinear system with persistent disturbance

To guarantee both the robustness performance and the stability for a nonlinear system with persistent disturbance, a min-max nonlinear MPC scheme is designed in this paper. The terminal region and the terminal stable control law are computed off-line by transferring stable condition and the state/input constraints into a set of linear matrix inequalities and solving them. Furthermore, it is proved that the closed-loop system is input-to-state stable with relation to persistent disturbance. An example illustrates the good performance of the developed method.