Robust Tube MPC for Linear Systems With Multiplicative Uncertainty

Recently, a technical note [4] ensured recursive feasibility in robust model predictive control with multiplicative uncertainty by applying terminal constraints to the degrees of freedom available to the controller while constructing polytopic tube cross sections. The current note extends this technique by bounding the tube parameters in norm and constructing a terminal set based on this bound. This reduces the online computational load and so allows longer prediction horizons to be used.