Switching predictive control of input-saturated plants under persistent disturbances

Predictive switching logic schemes are considered whereby a feedback-gain is switched-on at any time from a bank of candidate feedback-gains so as to control a discrete-time input-saturated LTI system possibly subject to persistent bounded disturbances of unknown arbitrary magnitude. It is constructively shown that such schemes do exist which ensure, along with good tracking performance, global asymptotic and semi-global exponential stability in the noiseless case, as well as finite l∞-induced gain to the disturbance-to-state map, whenever the structure of the disturbed plant can make such properties conceptually achievable.