Horizon-switching predictive set-point tracking under input-increment saturations and persistent disturbances

Predictive switching logic schemes are considered whereby a feedback-gain is switched-on at any time from a family of candidate feedback-gains so as to deal with the problem of set-point tranking in Asymptotically Null-controllable with Bounded Input (ANCBI) systems under input-increment saturations and persistent abritrary bounded disturbances. It is constructively shown that such scheme do exist which ensure, along with good tracking performance, global asymptotic and semi-global exponential stability in the noiseless case, as well as bounded-noise bounded-state I∞-stability, whenever the disturbaces enter the system in such a way to make these properties conceptually achievable.