Non-linear systems with control and state constraints

The tracking control problem for a class of non-linear systems with control and state constraints is considered. A predictive control approach is used to derive the constrained optimal control law. The unique structure of the controller allows a parameter to be continuously tuned on-line via the solution of a linear programming problem. The objective is to achieve the most effective control while avoiding control saturation and performance degradation for systems with bounded control. By a similar predictive technique, a class of state constraints are converted into additional control constraints. The control law then accurately enforces both the control and state constraints. An example is given to demonstrate the effectiveness of the method.