%0 Book Section
%A Muñoz de la Peña, David
%A Bemporad, Alberto
%A Filippi, Carlo
%B Decision and Control Conference
%C 14th-17th December 2004
%D 2004
%F eprints:565
%I IEEE
%K 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
%P 2491-2496
%T Robust explicit MPC based on approximate multi-parametric convex programming
%U http://eprints.imtlucca.it/565/
%V 3
%X 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.