Networked predictive control of constrained nonlinear systems: Recursive feasibility and Input-to-State Stability analysis

The present paper is concerned with the robust state feedback stabilization of uncertain discrete-time constrained nonlinear systems in which the loop is closed through a packet-based communication network. In order to cope with model uncertainty, time-varying transmission delays and packet dropouts which typically affect networked control systems, a robust control policy, which combines model predictive control with a network delay compensation strategy, is proposed. The contribution of the paper is twofold. First, the issue of guaranteeing the recursive feasibility of the optimization problem associated to the receding horizon control law has been addressed, such that the invariance of the feasible region under the networked closed-loop dynamics can be guaranteed. Secondly, the Input-to-Stability property of the networked closed-loop system with respect to bounded perturbations has been analyzed.