Lyapunov-based offset-free model predictive control of nonlinear systems

This work considers the problem of control of nonlinear systems subject to uncertainty. To this end, a Lyapunov-based robust model predictive controller (MPC) design is integrated with a moving horizon based offset-free mechanism to enable improved closed-loop performance while still retaining the guarantees provided by the Lypunov-based robust MPC. Simulation results are presented to illustrate the key ideas of the proposed framework.