TY  - CHAP
PB  - IEEE
A1  - Muņoz de la Peņa, David
A1  - Bemporad, Alberto
A1  - Filippi, Carlo
SP  - 2491
Y1  - 2004/12//
CY  - 14th-17th December 2004
ID  - eprints565
T2  - Decision and Control Conference
EP  - 2496
SN  - 0-7803-8682-5 
M1  - 3
N2  - 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.
KW  - 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
AV  - none
TI  - Robust explicit MPC based on approximate multi-parametric convex programming
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1428788&isnumber=30837
ER  -