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This paper proposes a robust predictive control approach for additive discrete time uncertain
nonlinear systems. The controller design is characterized as an optimization problem of the
“worst-case” objective function over an infinite moving horizon. A sufficient state feedback
synthesis condition is provided in the form of a linear matrix inequality (LMI) optimization and
is solved online at each time step. A few simulation examples are exploited to illustrate the
effectiveness of this method. Among them are two typical CSTR problems.
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