Robustness analysis of nominal Model Predictive Control for nonlinear discrete-time systems *

Input-to-State Stability properties of a system subject to additive disturbances are studied under the assumption that the origin of the nominal system is an asymptotically stable equilibrium. The analysis is developed also for systems with a discontinuous dynamic equation. The obtained results are used to establish robustness properties for perturbed systems controlled with a Model Predictive Control law designed for the nominal model.