Abstract
This paper presents a model predictive controller with guaranteed closed-loop stability for nonlinear time-delay systems. The basic idea of the proposed nonlinear model predictive control (NMPC) scheme is based on previous results in NMPC for systems without delayed states. In particular, an expanded zero terminal state constraint, that takes the delayed states of the system into account, is used in order to guarantee closed-loop stability. The applicability of the proposed NMPC controller is demonstrated considering the control of a continuous stirred tank reactor with recycle stream.
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