Stability guarantee in predictive control delta domain

Abstract In this paper the problem of assuring nominal stability in constrained predictive control is addressed for the case when, due to disturbances, inadequate constraints, etc., the reference cannot be reached within the prediction horizon. The proposed algorithm is formulated in the delta domain, but the idea can be extended to other kind of models. It combines the cancellation of modes at the end of the prediction horizon with a minimization of the distance to the controller reference. In this way, it assures stability even with open loop unstable processes while, at the same time, avoids the feasibility problems.