Abstract:

Sontag-type constructive predictive control scheme is an efficient algorithm to reduce the on-line computational load of constrained nonlinear predictive control and to decouple the stability of closed-loop systems from the optimality of performance indexes.By employing inverse optimized control theory，the issues of inverse optimality and robustness of the controller are discussed for continuous-time，constrained nonlinear systems.Then the sufficient condition of robustness of the controller is established under the condition that the scheme is nominal stability.This will help to understand the control algorithm and provide the theoretical basis for its application.Finally，a simulation example is used to demonstrate the effectiveness of the result in the paper.