Abstract
In this paper a solution for the stabilization problem is proposed for continuous-time nonlinear systems, taking into account state and input constraints. The proposed sampled-time controller includes the design of a control law based on an interval predictor-based state-feedback controller and a model predictive control (MPC) approach that deals with the system constraints. The interval predictor-based state-feedback controller is designed based on Lyapunov function approach, which provides a safe set where the state constraints are not violated, out of this set the MPC is activated. The practical, uniform, and asymptotic stability of the considered nonlinear systems is guaranteed. A constructive method based on linear matrix inequalities (LMIs) is proposed to compute the controller gains.
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