Meng Zhao and Bao-Cang Ding. A Contractive Sliding-mode MPC Algorithm for Nonlinear Discrete-time Systems. International Journal of Automation and Computing, vol. 10, no. 2, pp. 167-172, 2013. DOI: 10.1007/s11633-013-0709-x
Citation: Meng Zhao and Bao-Cang Ding. A Contractive Sliding-mode MPC Algorithm for Nonlinear Discrete-time Systems. International Journal of Automation and Computing, vol. 10, no. 2, pp. 167-172, 2013. DOI: 10.1007/s11633-013-0709-x

A Contractive Sliding-mode MPC Algorithm for Nonlinear Discrete-time Systems

  • This paper investigates a sliding-mode model predictive control (MPC) algorithm with auxiliary contractive sliding vector constraint for constrained nonlinear discrete-time systems. By adding contractive constraint into the optimization problem in regular sliding-mode MPC algorithm, the value of the sliding vector is decreased to zero asymptotically, which means that the system state is driven into a vicinity of sliding surface with a certain width. Then, the system state moves along the sliding surface to the equilibrium point within the vicinity. By applying the proposed algorithm, the stability of the closed-loop system is guaranteed. A numerical example of a continuous stirred tank reactor (CSTR) system is given to verify the feasibility and effectiveness of the proposed method.
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