Sharif Digital Repository

Disturbance is one of the inseparable components of the mechanical systems which cannot be avoided. In these systems a number of inner and outer sources exist which are the cause of disturbance. Abrupt changes in torque, uncertainty in parameters, mechanical impulses and external forces on robot’s parts all can be mentioned as examples which introduce disturbance that affects the output of mechanical and robotic systems. Therefore, disturbance rejection is considered indispensable in robotic control systems. There are number of problems which are associated with disturbance rejection. In several methods, mostly optimization based methods, system fails to completely reject the disturbance and... 

Delay is an important factor in modeling and describing many chemical processes, mechanical systems, teleoperation and networked control systems. On the other hand, model predictive control is a very useful and powerful tool for handling different types of systems including time delayed systems. The main disadvantage of model predictive control is massive computational load and which may lead to wasting system resources. One of the best options for dealing with this issue is to employ event-triggered strategy in model predictive control. Using this approach can relax computational efforts and save system resources. This thesis is focused on introducing a robust model predictive control using...