MOVING HORIZON CONTROL OF NONLINEAR-SYSTEMS WITH INPUT SATURATION, DISTURBANCES AND PLANT UNCERTAINTY

We present a moving horizon feedback system, based on constrained opti mal control algorithms, for nonlinear plants with input saturation, di sturbances and plant uncertainty. The system is a non-conventional sam pled-data system: its sampling periods vary from sampling instant to s ampling instant, and the control during the sampling time is not const ant, but determined by the solution of an open loop optimal control pr oblem. We show that the proposed moving horizon control system is robu stly stable and is capable of attenuating L(infinity) bounded disturba nces.