Feasibility of horizon-switching predictive control under positional and incremental input saturations

This paper proves the validity of a basic feasibility property which makes it possible to extend, to the case of set-point tracking in ANCBI systems under joint positional and incremental input saturations, the approach in [Mosca, E. (2005). Predictive switching supervisory control of persistently disturbed input-saturated plants. Automatica, 41, 55-67] restricted to positional input saturation and the pure regulation problem. An example on the use of the proposed technique is considered.