Saddle point MPC approach to nonlinear robust sampled-data control problem

This paper presents a robust nonlinear model predictive control strategy to consider the control of systems described by nonlinear ordinary differential equation in a sampled-data framework. The optimal couple controldisturbances is calculated as a time continuous function at each sampling instant by solving a saddle point problem. Using this controller, it is proved that the system is ultimately bounded and satisfies an exponential stability property at each sampling instants. To validate the efficiency of our approach, the presented methodology is illustrated on a cart, spring and damper example.