Passivity-based sliding mode predictive control of discrete-time singular systems with time-varying delay

By introducing sliding mode predictive control (SMPC) techniques, a controller with passivity of a class of discrete-time uncertain singular systems is proposed in this paper. A new switching surface function is designed by taking the singular matrix into account, thus the resulting sliding mode dynamics is a full-order uncertain singular time-varying delay system. Due to feedback correction and receding horizon optimization, the influence of uncertainty can be compensated in time, strong robustness to matched or unmatched uncertainties is possessed.