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An efficient robust model predictive control (MPC) strategy using augmented ellipsoidal invariant sets is enhanced by introducing more general dynamics in the future control moves (referred to as prediction dynamics) than simple time recession. This allows significant enlargements of the region of attraction for a give control horizon. As control horizons down to a single time step can be used, this...
An approach for constrained predictive control of linear systems (or uncertain systems described by polytopic uncertainty models) is presented. The approach consists of (in general non-convex, but often convex) offline optimization, and very efficient online optimization. Two examples, one being a laboratory experiment, compare the approach to existing approaches, revealing both advantages and disadvantages.
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