Dynamic PID-Based Event-Triggered Robust MPC for Cyber-Physical Systems Under DoS Attacks

In this paper, a novel resilient and robust event triggered model predictive control (ET-MPC) approach is proposed for discrete-time nonlinear cyber-physical systems (CPSs) subject to external disturbances and denial-of-service (DoS) attacks. By integrating system constraints, disturbances, and network attacks, the proposed method achieves a balance between system stability and security. Specifically, a nonlinear robust state constraint set is constructed to reduce conservativeness, ensuring state constraint satisfaction. A dynamic buffer mechanism is in troduced to merge model predictive control (MPC) and feedback control, effectively removing the upper bound for inter-triggering intervals. Moreover, the event-triggered mechanism (ETM) is enhanced with PID and dynamic threshold, further reducing communication and computation costs. Theoretical results establish a lower bound on the triggering interval and an upper bound on the state deviation, proving recursive feasibility and input-to state practical stability (ISpS). Simulation results demonstrate the superior robustness, stability, and resource efficiency of the proposed method.