The robustness of input constrained model predictive control to infinity-norm bound model uncertainty

The nonlinearity that arises in constrained MPC (model predictive control) satisfies an IQC (integral quadratic constraint), provided zero is feasible. It is thus possible to construct a robust stability test against any model uncertainty that also satisfies an IQC. In particular the test may be applied to structured and unstructured infinity-norm bound uncertainty. The test may be applied with predictive controllers of arbitrary horizon. The test is illustrated for several simple MPC schemes and simulation results are shown for a two-input two-output plant with left matrix fraction uncertainty.