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Model predictive control for time-delay systems with terminal sliding mode constraints

The importance of the terminal cost term and terminal constraint region to guarantee stability in model predictive control (MPC) is presented. MPC with terminal sliding mode constraints is present for time-delay systems with constraint input. The terminal constraint region is enlarged by making the sliding surface satisfying input constraints as terminal region, predictive horizon is shortened and the computational burden is reduced, which makes for the on-line application of predictive control. Simulation results verify the feasibility of the proposed method.