Model predictive controller for a class of nonlinear dissipative systems

This work analyses stability issues for a class of dissipative nonlinear systems under the control of MPC algorithm. Approach presented here is very flexible and relies on a very few and realistic assumptions. The algorithm is modified such that the additional constraints may be included in order to satisfy the standard stability conditions. More specifically, we analyse the case when uncertainties enter the system in a form of unmatched unknown parameters. Therefore, the feedback is designed to accomplish the convergence for both system state and parameter. It is assumed that the output should be available for a feedback all the time. Stability is analysed with respect to the specific quadratic supply rate.