Robust Nonlinear Model Predictive Control using Volterra Models and the Structured Singular Value (μ)

AbstractA methodology is proposed for designing robust nonlinear model predictive controllers based on a Volterra series model with uncertain coefficients. The objective function of the on-line optimization is formulated in terms of a Structured Singular Value (μ). The proposed formulation considers a penalty on the manipulated variables actions and manipulated variables and terminal condition constraints.