Predictive ESO-based control with guaranteed stability for uncertain MIMO constrained systems

Abstract In this paper, a novel predictive Extended State Observer (ESO)-based discrete controller with guaranteed stability is developed. Predictive controllers based on ESOs are gaining acceptance for controlling MIMO systems with disturbances, uncertainties or actuator constrains. However, one main concern about this control structure regards its closed-loop stability; which is not strictly guaranteed with the previous formulations. The proposed solution adds two new elements in the performance cost-index that permits to prove that –under the same assumptions that are normally taken in the ESO literature– the resulting closed-loop will be Input-to-State Stable against state-dependent uncertainties, observation errors and actuator constraints. A simulation case study of the glucose control in patients with type-1 diabetes is additionally included in order to illustrate the main advantages of this control structure.