Tracking control of nonlinear systems with bounded controls and control rates (Q1362451)

Tracking control of nonlinear systems \(\dot x=f(x,u)\), \(y=h(x)\), with \(x\in \mathbb{R}^n\) and \(u,y\in \mathbb{R}^m\) is considered under control constraints and control-rate constraints. A continuous time predictive control approach is proposed provided the system is input-output decouplable and minimum phase. Provided the predictive control problem possesses a solution, a solution for the bounded tracking problem is derived.