%0 Book Section
%A Bemporad, Alberto
%A Mosca, Edoardo
%B Decision and Control Conference
%C San Diego, December 1997
%D 1997
%F eprints:603
%I IEEE
%K Lyapunov methods; asymptotic stability; closed loop systems; discrete time systems; predictive control; process control      tracking  
%P 3218-3219
%T Constrained predictive control with terminal ellipsoid constraint and artificial Lyapunov functions
%U http://eprints.imtlucca.it/603/
%V 4
%X We deal with the problem of satisfying input and/or state hard constraints in set-point tracking problems. Stability is guaranteed by synthesizing a Lyapunov quadratic function for the system, and by imposing that the terminal state lies within a level set of the function. Algorithmic procedures to maximize the volume of such an ellipsoidal set are provided