Robust Stability of Barrier-Based Model Predictive Control

Conditions for robust input-output stability of barrier-based model predictive control linear systems with and convex nonlinear (hard or soft) constraints are established through the construction integral quadratic (IQCs). The IQCs can be used to determine sufficient conditions global closed-loop stability. In particular, obtained in presence unstructured uncertainty. both static dynamic multipliers developed appropriate searches presented. effectiveness analysis is demonstrated an illustrative numerical example.