Model predictive control for continuous linear systems with state inequality constraints

This work deals with the continuous predictive control problem for continuous linear systems with inequality constraints on the state and input variables. The problem of the input vector constraints has been solved in the past especially for the discrete linear systems. In this paper, we will develop a continuous model predictive control and show how to use Taylor approximation to transform state constraints to input constraints which is easily included in the optimization problem. Simulation results will show the effectiveness of the proposed method.