Robust model predictive control for linear sampled-data systems with irregular sampling times

Abstract

This paper presents a sampled-data tube-based robust MPC scheme for linear continuous-time systems with irregular sampling times. The sampled-data control law is updated only at discrete sampling instances, but the proposed controller guarantees constraint satisfaction of the continuous-time state for all times. The proposed MPC scheme allows for two sources of uncertainty, (i) uncertain sampling times and (ii) an additional disturbance to the continuous-time system. A constraint adaptation is presented to handle this setting in a rigid tube MPC framework. Constraint satisfaction and convergence of the continuous-time state are shown for the proposed MPC scheme.