Robust Multi-Model Predictive Control via Integral Sliding Modes

Abstract

This paper presents a novel optimal control approach for systems represented by a multi-model, i.e., a finite set of models, each one corresponding to a different operating point. The proposed control scheme is based on the combined use of model predictive control (MPC) and first order integral sliding mode control. The sliding mode control component plays the important role of rejecting matched uncertainty terms possibly affecting the plant, thus making the controlled equivalent system behave as the nominal multi-model. A min-max multi-model MPC problem is solved using the equivalent system without further robustness oriented add-ons. In addition, the MPC design is performed so as to keep the computational complexity limited, thus facilitating the practical applicability of the proposal. Simulation results show the effectiveness of the proposed control approach.