Constrained discrete time-delay system robust model predictive control

In this paper, robust invariant set and model predictive control for discrete time-delay system with disturbance and input constraint was discussed. In our approach, a multi-object cost function upper bounded was provided, which can help us to take into account the control command and H_infin disturbance attenuation ability together. Considering that external disturbance is belongs to a bounded convex polytope, a control invariant set was derived based on Lyapunov Krasovskii function. This makes the result optimization problem can be solved on-line, and the input constraints is also satisfied. The whole optimization problem can be solved by LMI. Numerical simulation results show us that proposed methods have desired control and performance requirements.