Predictive control for lure systems subject to constraints using LMIs

This paper presents a computationally attractive nonlinear model predictive control approach for the class of continuous time Lure systems. The control law is obtained via the repeated solution of an efficient to solve convex optimization problem based on linear matrix inequalities (LMIs). Closed-loop stability and satisfaction of input and state constraints are guaranteed by the feasibility of the LMIs at initial time. The simulation of a flexible link robotic arm shows the applicability and effectiveness of the proposed controller.