BING ZHU is an Associate Professor at the School of Automation Science and Electrical Engineering, Beihang University, China P.R. ZHIGANG LUO is an Engineer at AVIC XI’AN Flight Automatic Control Research Institute, China P.R. XIANGYU MENG is an Assistant Professor in the Division of Electrical and Computer Engineering at Louisiana State University, USA. ZONGYU ZUO is a Professor at the School of Automation Science and Electrical Engineering, Beihang University, China P.R.

• Foreword xiAbout the Authors xiiiPreface xvAcknowledgments xixAcronyms xxi1 Introduction 11.1 Background and Motivation 11.2 Model Predictive Control 31.3 MPC in the Presence of Uncertainties 81.4 Event-based MPC 121.5 Book Outline 162 Two-phase Event-based MPC for Continuous-time Systems 192.1 Problem Statement 202.2 Two-phase Event-triggered MPC Algorithm 212.2.1 Optimization Formulation 212.2.2 Event-based α − β Strategy 232.2.3 Generalization of the α − β Strategy 282.3 Feasibility and Stability 292.3.1 Recursive Feasibility of Optimization 292.3.2 Stability of the Closed-loop System 332.4 Simulation Examples 352.4.1 Undamped Oscillator 352.4.2 Simplified Spring-damper Element in Vehicle Suspension System 412.5 Conclusion 443 Event-triggered MPC for Discrete-time Systems with Aperiodic Sampling 453.1 Problem Statement 463.1.1 Plant to Be Controlled 463.1.2 Formulation of Optimization 473.2 Aperiodic Triggering Mechanism 503.2.1 Triggering Mechanism 503.2.2 Stability and Feasibility 553.3 Improved Aperiodic Triggering Mechanism 613.3.1 Statement of Improved Triggering Mechanism 613.3.2 Feasibility and Stability Concerning the Improved Aperiodic Triggering Mechanism 653.4 A Simulation Example 733.5 Conclusion 814 Composite Event-triggered MPC based on Disturbance Compensation 834.1 Problem Statement 844.2 Composite Event-triggered MPC Mechanism 854.2.1 Disturbance Compensation Controller Design 854.2.2 Model Predictive Controller Design 864.2.3 Composite Event-triggered MPC 874.2.4 Event-triggered Mechanism with Estimation 894.3 Feasibility and Stability 914.3.1 Recursive Feasibility 914.3.2 Closed-loop Stability 944.4 A Simulation Example 964.5 Conclusion 995 Event-triggered MPC with Periodic Sampling for Multi-agent Systems 1015.1 Problem Statement 1025.2 Distributed MPC Design 1065.2.1 Terminal Set and Auxiliary Terminal Control Design 1065.2.2 Distributed MPC Framework 1095.3 Periodic Event-triggering Mechanism Design 1105.4 Feasibility and Stability 1165.5 A Simulation Example 1265.6 Conclusion 1306 Concluding Remarks and Future Directions 133References 137Index 143