Robust Model Predictive Control for Systems Affected by Constant and Norm 2 Bounded Disturbance

This paper proposes a robust model predictive control approach for systems affected by two types of disturbances: a constant one and a norm 2 bounded one.Through several computations, the norm 2 bounded disturbance is removed from the control optimization problem which consists in minimizing a robust performance objective.The problem is then reduced to a convex one with constraints on the input.The simulation results indicate that the proposed method successfully manages to reject the system disturbances.