Linear Model Predictive Control and Time-delay Implications

In this paper a generic Model Predictive Control design procedure is studied with a specific attention to linear discrete time-delay models and dynamics affected by input/state constraints. The starting point in the analysis is the design of a local stabilizing control law using different feedback structures. In order to ensure stability and guarantee input and state constraints satisfaction of the moving horizon controller, the concept of positive invariance related to time-delay systems is investigated. Using the "terminal set-terminal cost" design, the states are forced to attain the maximal delayed-state admissible set at the end of the prediction horizon. We show that A-D-contractive sets can be used instead as a terminal region in which the present and the delayed states are forced to lie in a finite horizon. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.