On model predictive control with sampled-data input for output tracking with prescribed performance

Abstract

We propose a model predictive control (MPC) scheme with sampled-data input which ensures output-reference tracking within prescribed error bounds for relative-degree-one systems. Hereby, we explicitly deduce bounds on the required maximal control input and sampling frequency such that the MPC scheme is both initially and recursively feasible. A key feature of the proposed approach is that neither terminal conditions nor a sufficiently-large prediction horizon are imposed, rendering the MPC scheme computationally efficient. We illustrate the MPC algorithm via a numerical example of a torsional oscillator.