Abstract
Abstract A sufficient condition for robust stability of nonlinear constrained Model Predictive Control (MPC) with respect to plant/ model mismatch is derived. This work is an extension of a previous study On the unconstrained nonlinear MPC problem, and is based on Nonlinear Programming sensitivity concepts. It addresses the discrete time state feedback problem with all states measmed. A strategy to estimate bounds on the plant/model mismatch is proposed, that can be used off-line as a tool to assess the extent of model mismatch that can he tolerated to guarantee robust stability.
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