Discrete-time integral sliding model predictive control for unmatched disturbance attenuation

In this paper, a method of unmatched disturbance compensating integral sliding model predictive control for constrained linear discrete-time systems with bounded disturbances is presented. The basic idea is to shape a discrete-time integral sliding mode control into an optimal constrained control problem with model predictive control. By choosing another projection matrix in the integral sliding surface, the performance on the unmatched channel can be improved at the expense of the nominal MPC performance. For this reason, a final disturbance observer-based method is then introduced. The theoretical analysis and a numerical example illustrate the validity of the proposed method.