MPC also known as moving or receding horizon control, is a feedback control scheme that has originated in industry as a real-time computer control algorithm to solve linear and nonlinear multi-variable problems that have constraints and time delays. Since disturbances can drive model predictive control into non-convexity and instability this problem has attracted many researchers. The stability studies in this paper are illustrated in presence of colored noise, error in delay estimation, unstable and non-minimum phase system by means of numerical example. The simulation is carried out using an example, which is the main contribution of the paper.

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