Configuration-Constrained Tube MPC

• Published in: Automatica (Oxford) Vol. 163; p. 111543
• Main Authors: Villanueva, Mario Eduardo, Müller, Matthias A., Houska, Boris
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.05.2024
• Subjects: Convex optimization; Model Predictive Control; Robust control; Robust control; Convex optimization; Model Predictive Control

This paper is about robust Model Predictive Control (MPC) for linear systems with additive and multiplicative uncertainty. A novel class of configuration-constrained polytopic robust forward invariant tubes is introduced, which admit a joint parameterization of their facets and vertices. They are th...