M. Lazar

Tube MPC for Bilinear Koopman Models using Robust Control Contraction Metrics

A robust tube model predictive control framework for nonlinear systems represented by bilinear Koopman models identified from data, which establishes recursive feasibility, robust constraint satisfaction and input-to-state stability of the closed-loop system with respect to the mismatch between the Koopman model and the true dynamics.