Robust Model Predictive Control for a Class of Nonlinear Systems with Uncertainty

The purpose of this paper is to design a robust nonlinear model predictive controller for a class of single input single output nonlinear systems with uncertainty. The controller structure is designed by using backstepping technique, and the controller parameters are tuned online by using model predictive control. The overall model predictive control scheme is proved to guarantee stability by using Lyapunov function. The simulation of a continuous fermenter process also shows that the controller is valid and can be applied to practical system