Abstract
This paper presents a Model Predictive Control (MPC) algorithm for a class of linear state-delay systems with input constraints. Uncertain state-delays rather than constant ones are considered in an explicit way, and then a stabilizing condition in an LMI (Linear Matrix Inequality) form is worked out for both offline controller design and online optimization, so that an artificial Lyapunov function is guaranteed to be non-increasing. The new algorithm is then extended to linear time-varying (LTV) systems with uncertain multiple state-delays. Numerical examples illustrate the advantage of the new algorithm against a normal robust MPC.
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