NONLINEAR PREDICTIVE CONTROLLERS FOR CONTINUOUS SYSTEMS

In this paper a new technique for the design of nonlinear feedback controllers to track desired response histories is presented. The controller is developed based on continuous minimization of predicted tracking errors. Some properties on the tracking performance and robustness of the controller are established. Both state-and output-tracking problems are considered in a unified framework. The effectiveness of this approach is demonstrated by an application in missile autopilot design.