An improved analytic model predictive control for a class of uncertain nonlinear systems

An improved analytic model predictive control method is proposed to deal with a class of bounded uncertain nonlinear systems. Firstly, invoking the standard results from the Moore-Penrose inverse of matrix, the unmatched problem which exists commonly in input and output dimensions of systems is solved. Secondly, the improved analytic model predictive control method is bounded and the control law can be eliminated uncertainties by utilizing the boundary value. So that the proposed control method can be realized without extra compensation of uncertainties in the process of controlling nonlinear systems. Finally, for an unmatched input-output nonlinear example of rudder roll stabilization system, the simulation results show that the proposed method demonstrates the effectiveness.