Forces the system states onto a predefined "surface" and keeps them there using high-frequency switching. It is incredibly tough against disturbances. Backstepping:
Your model is wrong. Sensors have noise. Actuators saturate. A robust nonlinear design guarantees: Forces the system states onto a predefined "surface"
: Chattering due to signum → often smoothed (e.g., saturation or high‑order SMC). Forces the system states onto a predefined "surface"
MPC solves an online optimization problem over a finite horizon. However, without care, it can destabilize nonlinear systems. The robust solution: add a . At each step, enforce (V(\mathbfx_k+1) \leq V(\mathbfx_k) - \alpha V(\mathbfx_k)). This Lyapunov-based MPC (LMPC) guarantees closed-loop stability even with model mismatch, provided the terminal cost is a CLF. Forces the system states onto a predefined "surface"