Proportion-Integration-Differentiation based Aperiodic Model Predictive Control for Constrained Nonlinear Systems

In this paper, an event-triggered model predictive control (ET-MPC) strategy is proposed for the perturbed nonlinear system with state and input constraints. First, a novel strategy for event-triggering is proposed, which is based on the error of the proportion, integral, and differential (PID) of the difference between the nominal and the actual states. Then, the dual-mode control structure adopted by a novel PID based ET-MPC algorithm is developed. Besides, the recursive feasibility and resultant stability of the approach are demonstrated theoretically. Finally, numerical simulation and its comparisons are conducted to prove the effectiveness of the proposed strategy.