Generalized robust MPC with zone-tracking.

We propose a robust nonlinear model predictive control design with generalized zone tracking (ZMPC) in this work. The proposed ZMPC has guaranteed convergence into the target zone in the presence of bounded disturbance. The proposed approach achieves this by modifying the actual target zone such that the effect of disturbances is rejected. A control invariant set (CIS) inside the modified target zone is used as the terminal set, which ensures the closed-loop stability of the proposed controller. Closed-loop stability analysis is presented. Simulation studies based on a continuous stirred tank reactor (CSTR) are performed to validate the effectiveness of the proposed ZMPC. • A robust nonlinear model predictive control design with generalized zone tracking. • Rigorious analysis showing the closed-loop stability. • Extensive simulation results showing the effectiveness of the proposed approach. [ABSTRACT FROM AUTHOR]