Robust output tracking of constrained perturbed linear systems via model predictive sliding mode control

A robustifying strategy for constrained linear multivariable systems is proposed. A combination of tracking model predictive control with output integral sliding mode techniques is used to completely reject bounded matched perturbations. It can be guaranteed that all constraints on inputs, states, and outputs are satisfied although only output information is used. Finally, real-world experiments with an unstable plant are presented in order to demonstrate the validity and the effectiveness of the proposed approach.