Tube Model Predictive Control with an Auxiliary Sliding Mode Controller

Abstract

This paper studies Tube Model Predictive Control (MPC) with a Sliding Mode Controller (SMC) as anauxiliary controller. It is shown how to calculate the tube widths under SMC control, and thus how muchthe constraints of the nominal MPC have to be tightened in order to achieve robust stability and constraintfulfillment. The analysis avoids the assumption of infinitely fast switching in the SMC controller.