A receding-horizon multiple model based control scheme for nonlinear systems

A multiple model based nonlinear control scheme for nonlinear discrete-time systems is considered. A set of optimal receding-horizon feedback control functions is defined, based on a description of the nonlinear plant by means of interpolation of a set of local models, using a family of nonlinear validity functions. To obtain the control law to be applied to the plant, interpolation of the local control actions is done, using the same validity function family. This choice allows to carry out the stability analysis of the equilibrium of the multiple model control scheme.