Robust Model Predictive Control Design for Fault-Tolerant Control of Process Systems

This work considers the problem of stabilization of nonlinear systems subject to constraints, uncertainty and faults in the control actuator. We first design a robust model predictive controller that allows for an explicit characterization of the set of initial conditions starting from where feasibility of the optimization problem and closed-loop stability is guaranteed. The main idea in designing the robust model predictive controller is to …