%0 Journal Article
%@ 0018-9286
%A Sopasakis, Pantelis
%A Patrinos, Panagiotis
%A Sarimveis, Haralambos
%D 2014
%F eprints:1841
%I IEEE 
%J IEEE Transactions on Automatic Control 
%K Continuous invariance; model predictive control; polytopic overapproximation; sampled data  
%N 4
%P 1088-1093
%T MPC for Sampled-Data Linear Systems: guaranteeing continuous-time positive invariance
%U http://eprints.imtlucca.it/1841/
%V 59
%X Model Predictive Controllers (MPC) designed for sampled-data systems can be shown to violate the constraints in continuous time. A reformulation of the initial problem will guarantee constraint satisfaction throughout the intersample period. Polytopic inclusions of the continuous trajectory are used in this paper to establish additional constraints leading to a linearly constrained quadratic optimization problem. Continuous time asymptotic stability and continuous-time positive invariance are proven for the reformulated problem.