Robust stability analysis of constrained model predictive control

In this paper, we show that a constrained Model Predictive Controller, based on one plant model, stabilizes another plant if and only if some corresponding constrained Model Predictive Controller, based on the plant, stabilizes the plant. Thus strong nominal stability results can be used to analyze robust stability properties of some existing Model Predictive Control algorithms, without introducing any additional on-line computations and without modifying any of their attractive features. How the results may be used to synthesize robust controllers is also discussed. Examples are shown to illustrate the key ideas behind the approach.