Suppose we have a nonlinear system:
x_dot=A x + B u(t-T) + phi(x) + d(t)
y=Cx
where x:state, u:control input, d:exogenous disturbance (bounded), phi(x): nonlinear vector (satisfy local Lipschitz), A: system matrix (with uncertain parameters), T:time delay, y;
output.
Assumptions:
i. Exogenous disturbance bounded.
ii. Parameter uncertainty bounded
iii. Nonlinear function satisfies locally Lipschitz condition
Constraints:
i. control , u>=0, for all time,t >0 and u=0, for all time t>0
Q/ How to design a robust MPC that will account for the input time-delay uncertain nonlinear system?
Hi, you will find attached a PhD thesis on this thesis that is written unfortunately in French. You can certainly find related papers of the same author written in English.
Dear Anirudh,
Also i add information about this subject, take a look at links and attached files on topic.
Predictor–Based Robust Control of Uncertain Nonlinear Systems ...
https://www.sciencedirect.com/science/article/.../S14746670153472...
Robust Predictive Control of Uncertain Nonlinear System With ...
https://www.researchgate.net/.../255662677_Robust_Predictive_Co...
Nonfragile Robust Model Predictive Control for Uncertain Constrained ...
https://www.hindawi.com/journals/mpe/2016/1945964/
Analytic Model Predictive Control of Uncertain Nonlinear Systems: A ...
https://www.hindawi.com/journals/mpe/2015/760490/
Best regards
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