eprintid: 489 rev_number: 13 eprint_status: archive userid: 7 dir: disk0/00/00/04/89 datestamp: 2011-07-27 08:40:40 lastmod: 2011-08-05 13:20:31 status_changed: 2011-07-27 08:40:40 type: article metadata_visibility: show contact_email: alberto.bemporad@imtlucca.it item_issues_count: 0 creators_name: Muñoz de la Peña, David creators_name: Bemporad, Alberto creators_name: Filippi, Carlo creators_id: creators_id: alberto.bemporad@imtlucca.it creators_id: title: Robust explicit MPC based on approximate multi-parametric convex programming ispublished: pub subjects: QA subjects: TJ divisions: CSA full_text_status: none keywords: multiparametric programming; polytopic uncertainty; robust constraint satisfaction; robust convergence; robust model predictive control schemes; uncertain systems; convex programming; predictive control; robust control; uncertain systems abstract: 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 date: 2006-08 date_type: published publication: IEEE Transactions on Automatic Control volume: 51 number: 8 publisher: IEEE pagerange: 1399-1403 id_number: 10.1109/TAC.2006.878755 refereed: TRUE issn: 0018-9286 related_url_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1673605&isnumber=35123 citation: Muñoz de la Peña, David and Bemporad, Alberto and Filippi, Carlo Robust explicit MPC based on approximate multi-parametric convex programming. IEEE Transactions on Automatic Control , 51 (8). pp. 1399-1403. ISSN 0018-9286 (2006)