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A delay-range-dependent robust constrained model predictive control is proposed for discrete-time system with uncertainties and unknown disturbances. The dynamic characteristic of the discrete-time system is established as a new extended state space model in which state variables and output tracking error are integrated and regulated independently. It is used as the design of control law of system, which cannot only guarantee the convergence and tracking performance but also offer more degrees of freedom for designed controller. Unlike the traditional robust model predictive control (RMPC), the novel, less conservative, and more simplified delay-range-dependent stable conditions are derived by linear matrix inequality (LMI) theory and some relaxed technologies, which make use of the information of the upper and lower bounds of the time-varying delay. Meanwhile, the  performance index is introduced in the RMPC controller design, which can reject any unknown bounded disturbances. As a result, the design controller has better abilities of both tracking and disturbance rejection. The control results on the liquid level of tank system show that the proposed control method is effective and feasible.

Delay-Range-Dependent Robust Constrained Model Predictive Control for Industrial Processes with Uncertainties and Unknown Disturbances