Gain-Scheduled MPC Design for Nonlinear Systems with Input Constraints∗∗The work has been supported by the Slovak Scientific Grant Agency VEGA, Grant No. 1/1241/12.

A novel methodology is proposed for discrete model predictive gain-scheduled controller design for nonlinear systems with input(hard)/output(soft) constraints for finite and infinite prediction horizons. The proposed design procedure is based on the linear parameter-varying (LPV) paradigm, affine parameter-dependent quadratic stability and on the notion of the parameter-varying guaranteed cost. The obtained design procedure is in the form of BMI. Numerical examples show the benefit of the proposed approach.