Robust Stability Analysis of Predictive Controller for Systems with Input Nonlinearity

摘要

For systems with Hammerstein nonlinearity and input saturation constraint, the Two Step Model Predictive Control (TSMPC) technique is adopted. This paper considers the uncertainty in system matrix and input nonlinearity, and obtains some exponential stability conditions for this kind of system. Furthermore, the domain of attraction for this kind of system is discussed and the algorithm for designing the domain of attraction is given. The stability results are validated with a simulation example.