Robust constrained predictive control using a sector bounded nonlinear model

Robust model predictive control technique is proposed for constrained nonlinear systems are modelled as systems with sector-bounded nonlinearities. The controller design problem is formulated as a minimisation of the upper bound of a finite-horizon cost function subject to cost monotonicity. For cost monotonicity, a linear matrix inequality (LMI) condition for terminal inequality is derived using a parameter-dependent terminal weighting matrix. The optimisation problem that satisfies the terminal inequality is solved by semidefinite programming involving LMIs. Numerical examples are included to illustrate the effectiveness of the proposed method.