Nonlinear Model Predictive Control for regulation of a class of Nonlinear Singularly Perturbed discrete-time systems

Abstract

In this paper, a class of discrete-time nonlinear systems having two-time-scale property is investigated. Using the theory of singular perturbations and time scales, the nonlinear system is decoupled into reduced slow and fast (boundary layer) subsystems. Then, a Nonlinear Model Predictive Control (NMPC) method is developed using the state-dependent Riccati equation for the slow and fast subsystems. It is proved that the original, closed-loop system with a composite control composed of slow and fast MPC subcontrollers, is locally asymptotically stable. Finally, an example is given to show the effectiveness of the developed method.