Journal of Zhejiang University-SCIENCE A

, Volume 7, Issue 10, pp 1723–1732 | Cite as

Robust model predictive control for discrete uncertain nonlinear systems with time-delay via fuzzy model

  • Su Cheng-li 
  • Wang Shu-qing 


An extended robust model predictive control approach for input constrained discrete uncertain nonlinear systems with time-delay based on a class of uncertain T-S fuzzy models that satisfy sector bound condition is presented. In this approach, the minimization problem of the “worst-case” objective function is converted into the linear objective minimization problem involving linear matrix inequalities (LMIs) constraints. The state feedback control law is obtained by solving convex optimization of a set of LMIs. Sufficient condition for stability and a new upper bound on robust performance index are given for these kinds of uncertain fuzzy systems with state time-delay. Simulation results of CSTR process show that the proposed robust predictive control approach is effective and feasible.

Key words

Uncertain Takagi-Sugeno fuzzy model Time-delay Model predictive control (MPC) Linear matrix inequalities (LMIs) Robustness 

CLC number



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Copyright information

© Zhejiang University 2006

Authors and Affiliations

  • Su Cheng-li 
    • 1
  • Wang Shu-qing 
    • 1
  1. 1.National Laboratory of Industrial Control Technology, Institute of Advanced Process ControlZhejiang UniversityHangzhouChina

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