%T Robust explicit MPC based on approximate multi-parametric convex programming
%P 1399-1403
%I IEEE
%V 51
%A David Mu?oz de la Pe?a
%A Alberto Bemporad
%A Carlo Filippi
%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
%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
%L eprints489
%D 2006
%J IEEE Transactions on Automatic Control 
%R 10.1109/TAC.2006.878755
%N 8