2134/20890 Rachid Errouissi Rachid Errouissi Jun Yang Jun Yang Wen-Hua Chen Wen-Hua Chen Ahmed Al-Durra Ahmed Al-Durra Robust nonlinear generalised predictive control for a class of uncertain nonlinear systems via an integral sliding mode approach Loughborough University 2016 Disturbance rejection Integral sliding mode control (ISMC) Nonlinear generalised predictive control (NGPC) Robustness Unmatched disturbance Mechanical Engineering Engineering not elsewhere classified 2016-04-12 14:04:12 Journal contribution https://repository.lboro.ac.uk/articles/journal_contribution/Robust_nonlinear_generalised_predictive_control_for_a_class_of_uncertain_nonlinear_systems_via_an_integral_sliding_mode_approach/9226193 In this paper, a robust nonlinear generalised predictive control (GPC) method is proposed by combining an integral sliding mode approach. The composite controller can guarantee zero steady-state error for a class of uncertain nonlinear systems in the presence of both matched and unmatched disturbances. Indeed, it is well known that the traditional GPC based on Taylor series expansion cannot completely reject unknown disturbance and achieve offset-free tracking performance. To deal with this problem, the existing approaches are enhanced by avoiding the use of the disturbance observer and modifying the gain function of the nonlinear integral sliding surface. This modified strategy appears to be more capable of achieving both the disturbance rejection and the nominal prescribed specifications for matched disturbance. Simulation results demonstrate the effectiveness of the proposed approach.