@incollection{eprints565,
           pages = {2491--2496},
            year = {2004},
          volume = {3},
       booktitle = {Decision and Control Conference},
           title = {Robust explicit MPC based on approximate multi-parametric convex programming},
          author = {David Mu{\~n}oz de la Pe{\~n}a and Alberto Bemporad and Carlo Filippi},
         journal = {Proc. 43th IEEE Conf. on Decision and Control},
       publisher = {IEEE},
         address = {14th-17th December 2004},
           month = {December},
        keywords = {approximate multi-parametric convex programming; classical robust WC scheme; deterministic MPC schemes; 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 convex program, which can be computationally demanding. For deterministic MPC schemes, multi-parametric programming was successfully applied to move most computations offline. In this paper we adopt a general approximate multi-parametric algorithm recently suggested for convex problems and propose to apply it to a classical robust WC 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.},
             url = {http://eprints.imtlucca.it/565/}
}