%0 Journal Article
%@ 0018-9286
%A Muñoz de la Peña, David
%A Bemporad, Alberto
%A Filippi, Carlo
%D 2006
%F eprints:489
%I IEEE
%J IEEE Transactions on Automatic Control 
%K multiparametric programming; polytopic uncertainty; robust constraint satisfaction; robust convergence; robust model predictive control schemes; uncertain systems; convex programming; predictive control; robust control; uncertain systems
%N 8
%P 1399-1403
%T Robust explicit MPC based on approximate multi-parametric convex programming
%U http://eprints.imtlucca.it/489/
%V 51
%X Many robust model predictive control (MPC) schemes require the online solution of a computationally demanding convex program. For deterministic MPC schemes, multiparametric programming was successfully applied to move offline most of the computation. In this paper, we adopt a general approximate multiparametric algorithm recently suggested for convex problems and propose to apply it to a classical robust MPC scheme. This approach enables one to implement a robust MPC controller in real time for systems with polytopic uncertainty, ensuring robust constraint satisfaction and robust convergence to a given bounded set