New results on robust model predictive control for time-delay systems with input constraints

This paper investigates the problem of model predictive control for a class of nonlinear systems subject to state delays and input constraints. the time-varying delay is considered with both upper and lower bounds. a new model is proposed to approximate the delay. and the uncertainty is polytopic type. for the state-feedback mpc design objective,we formulate an optimization problem. under model transformation,a new model predictive controller is designed such that the robust asymptotical stability of the closed-loop system can be guaranteed. finally,the applicability of the presented results are demonstrated by a practical example. © 2014 qing lu et al.