MOVING HORIZON CONTROL OF LINEAR-SYSTEMS WITH INPUT SATURATION AND PLANT UNCERTAINTY .2. DISTURBANCE REJECTION AND TRACKING

We present a moving horizon feedback system, based on constrained opti mal control algorithms, for linear plants with input saturation. The s ystem is a non-conventional sampled-data system: its sampling periods vary from sampling instant to sampling instant, and the control during the sampling time is not constant, but determined by the solution of an open loop optimal control problem. In Part 1 we showed that the pro posed moving horizon control system is robustly stable. In this paper we show that it is capable of asymptotically suppressing a class of L( infinity) bounded disturbances that are restricted to a subspace, and of asymptotically following a class of reference inputs that are conti nuously differentiable, bounded in magnitude and slope, and restricted to a subspace.