Robust Tube-Based MPC with Piecewise Affine Control Laws

This paper presents a tube-based model predictive control (MPC) algorithm with piecewise affine control laws for discrete-time linear systems in the presence of bounded disturbances. By solving the standard multiparametric quadratic programming (mp-QP), the explicit piecewise affine control laws for tube-based MPC are obtained. Each control law is piecewise affine with respect to the corresponding region (one of the partitions of the feasible set). Due to the fact that the above-mentioned procedures are totally offline, the online computation time is short enough for stabilizing those systems with fast dynamics. In this paper, all the involved constraint sets are assumed to be polytopes. An illustrative example is utilized to verify the feasibility and efficiency of the proposed algorithm.