TY  - JOUR
ID  - eprints489
EP  - 1403
AV  - none
TI  - Robust explicit MPC based on approximate multi-parametric convex programming
KW  - multiparametric programming; polytopic uncertainty; robust constraint satisfaction; robust convergence; robust model predictive control schemes; uncertain systems; convex programming; predictive control; robust control; uncertain systems
UR  - http://eprints.imtlucca.it/489/
SN  - 0018-9286
N2  - 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
VL  - 51
Y1  - 2006/08//
IS  - 8
JF  - IEEE Transactions on Automatic Control 
A1  - Muņoz de la Peņa, David
A1  - Bemporad, Alberto
A1  - Filippi, Carlo
PB  - IEEE
SP  - 1399
ER  -