DISCRETE-TIME STABILITY WITH PERTURBATIONS - APPLICATION TO MODEL-PREDICTIVE CONTROL

Exponential stability and asymptotic perturbed stability results are d erived for nonlinear discrete-time systems. Some related results are a vailable in the literature, but proofs for the discrete-time case are difficult to find. Our motivation for obtaining these results was to d etermine conditions under which discrete-time nonlinear model predicti ve control is stabilizing in the face of perturbations. This problem h as particular relevance when output (rather than state) feedback is us ed. A nonlinear state estimator is then required to reconstruct the st ate, and it is necessary to identify the class of reconstruction error s for which the cascaded estimator/controller assembly is stabilizing. (C) 1997 Elsevier Science Ltd.