Model Predictive Control of Continuous Time Nonlinear Differential Algebraic Systems

This work presents a sampled-data nonlinear model predictive control scheme with guaranteed stability for differential-algebraic systems. The main challenge is the avoidance of impulsive solutions due to discontinuities in the input or its derivatives. This is guaranteed by requiring the applied input to be sufficiently smooth. Stability is guaranteed by a terminal penalty term, together with a terminal region constraint. The control scheme is illustrated considering the control of an electrical circuit.