Discrete-time robust model predictive control for continuous-time nonlinear systems

We consider robust predictive control of continuous-time, constrained, nonlinear systems by means of a discrete-time control scheme. The key idea is to discretize the system first and to explicitly bound the arising discretization error. Taking this error into account a robustly stabilizing predictive controller is proposed that guarantees constraint satisfaction at the sampling instances and via a simple modification also continuous constraint satisfaction. The results are illustrated by an example.