@incollection{eprints578,
       booktitle = {European Control Conference},
          author = {Alberto Bemporad and Francesco Borrelli and Manfred Morari},
         journal = {Proc. European Control Conf.},
       publisher = {European Control Conference},
            year = {2001},
           title = {Piecewise linear robust model predictive control},
         address = {Porto, Portugal},
           pages = {939--944},
        abstract = {For discrete-time linear time-invariant systems with input disturbances and constraints on inputs and states, we develop an algorithm to determine explicitly, as a function of the initial state, the solution to robust optimal control problems based on min-max optimization. We show that the optimal control sequence is a piecewise linear function of the initial state. Thus, when the optimal control problem is solved at each time step according to a moving horizon scheme, the on-line computation of the resulting MPC controller is reduced to a simple linear function evaluation. In this paper the uncertainty is modeled as an additive norm-bounded input disturbance vector. The technique can be also extended to robust control of constrained systems affected by polyhedral parametric uncertainty.},
             url = {http://eprints.imtlucca.it/578/}
}