Global predictive regulation of null-controllable input-saturated linear systems

A predictive regulator is described for stabilizing linear plants subject t o polyhedral input constraints. While the asymptotic stability of general l inear plants is ensured subject to a set-membership condition on the initia l state, global asymptotic and semiglobal exponential regulation is achieve d for input-saturated plants which are asymptotically null controllable wit h bounded inputs. The design knobs of the regulator can be chosen off line so as to compromise between nonconservative regulation performance and comp utational complexity, and an on-line optimization problem of prequantifiabl e numerical burden results.