Predictive control for linear systems with delayed input subject to constraints

International audienceThe paper deals with the moving horizon control of systems subject to input delays and affected by input and state and/or output constraints. The robustness of the control law with respect to the uncertainties introduced by the discretization is considered. The stability of the closed-loop system is guaranteed by forcing the state trajectories to attain a robust positively invariant terminal set on the prediction horizon. Illustrative examples complete the paper. Copyright © 2007 International Federation of Automatic Control All Rights Reserved