Robust predictive control for multiple state and input time-delays systems with nonlinear disturbance

The integrated design method of robust model predictive control (RAMPC) is presented for a class of uncertain multiple state and input delay systems with nonlinear disturbances. Based on predictive control principle of receding optimization, the optimization problems of the infinite time domain quadratic performance index is solved by means of Lyapunov stable theory and linear matrix inequalities(LMIs) technique; And the sufficient conditions for the robust predictive controller are given. Finally, the simulation results illustrate the effectiveness of the proposed methods.