Efficient scheduled stabilizing model predictive control for constrained nonlinear systems

Zhaoyang Wan, Mayuresh V. Kothare

Research output: Contribution to journalArticlepeer-review

91 Scopus citations


We present a computationally efficient scheduled model predictive control (MPC) algorithm for constrained nonlinear systems with large operating regions. We design a set of local predictive controllers with estimates of their regions of stability covering the desired operating region, and implement them as a single scheduled MPC which on-line switches between the set of local controllers and achieves nonlinear transitions with guaranteed stability. This algorithm is computationally efficient and provides a general framework for the scheduled MPC design. The algorithm is illustrated with two examples.

Original languageEnglish (US)
Pages (from-to)331-346
Number of pages16
JournalInternational Journal of Robust and Nonlinear Control
Issue number3-4
StatePublished - Mar 2003
Externally publishedYes


  • Constrained nonlinear systems
  • Gain scheduling
  • Invariant ellipsoid
  • Linear matrix inequalities
  • Model predictive control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics


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