{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T22:55:57Z","timestamp":1773269757693,"version":"3.50.1"},"reference-count":44,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2019,11,11]],"date-time":"2019-11-11T00:00:00Z","timestamp":1573430400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2020,4]]},"abstract":"<jats:p> In this paper, a robust model predictive control (MPC) scheme is developed for non-linear systems. We propose a new modeling approach, entitled piecewise non-linear, for plants with multiple operating points and with unstructured uncertainties. The systems, in each subregion, are composed of an affine model perturbed by an additive non-linear term which is locally Lipschitz. Considering a non-linear term in the model changes the control problem from a convex program to a non-convex one, which is much more challenging to solve. A standard dual-mode control strategy is introduced by parameterizing the infinite horizon control moves into a number of free control moves followed by a single state feedback law. The designed controller is robust against model uncertainty and guarantees system stability under switching between subregions. Numerical examples on a highly non-linear chemical process and another non-linear system are used to evaluate the applicability of the proposed method. Simulation results show a better performance in terms of speed of convergence and feasibility compared with the conventional robust MPC designs. <\/jats:p>","DOI":"10.1177\/0142331219884801","type":"journal-article","created":{"date-parts":[[2019,11,11]],"date-time":"2019-11-11T08:27:13Z","timestamp":1573460833000},"page":"1110-1121","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":11,"title":["Robust constrained model predictive control design for piecewise non-linear systems with multiple operating points"],"prefix":"10.1177","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0339-5701","authenticated-orcid":false,"given":"Ali","family":"Shokrollahi","sequence":"first","affiliation":[{"name":"School of Electrical Engineering, Iran University of Science and Technology, 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