Robust model predictive control of discrete-time delayed positive systems

This paper investigates a Robust Model Predictive Control (RMPC) for interval discrete-time linear positive systems with time-delays. A transformation is applied to the interval linear time-delay positive system to turn it into an interval linear positive system without delay. Then a single-step linear programming-based robust model predictive controller with dynamic feedback is employed to optimally stabilize the system. All the stability conditions are in a form that can be solved by linprog Toolbox in Matlab which is more effective than LMIs for positive systems. Meanwhile, in the proposed method computational burden (off-line and on-line) is very low. Finally an illustrative example is presented to show the effectiveness of the proposed method.