Reference regulation of constrained uncertain discrete-time systems via robust predictive integral control

Reference regulation of uncertain systems is investigated in the discrete-time case. Hence, including the uncertainties and constraints, through a prediction-based controller, the set-point following will be robustly fulfilled in a class of uncertain systems. A novel idea is addressed to achieve this goal optimally. Thus the control synthesis is deliberately transformed into an optimisation issue subjected to some matrix inequality. In the real-time implementation, the controller's parameters would be obtained when a minimisation problem is solved. The applicability of the method is evaluated in some examples. The superiority and robustness of the suggested procedure are remarkably validated by comparing it with a similar one.