  We propose a robust nonlinear model predictive control design with
generalized zone tracking (ZMPC) in this work. The proposed ZMPC has guaranteed
convergence into the target zone in the presence of bounded disturbance. The
proposed approach achieves this by modifying the actual target zone such that
the effect of disturbances is rejected. A control invariant set (CIS) inside
the modified target zone is used as the terminal set, which ensures the
closed-loop stability of the proposed controller. Detailed closed-loop
stability analysis is presented. Simulation studies based on a continuous
stirred tank reactor (CSTR) are performed to validate the effectiveness of the
proposed ZMPC.
