The Design of Nonlinear Model Predictive ...

For the tracking problem to several expected output points of nonlinear system, the stepped model predictive control (MPC) was designed by virtue of the transformation of tracking problem to stepped stabilization problem along the expected output points series. The stability in each step was analysed by using the stability theory in stabilization problem. Then, the stability condition of the whole tracking process was presented. The simulation result showed the tracking effect of using the proposed model predictive controller.