Constrained robust feedback model predictive control for uncertain systems with polytopic description

For the constrained uncertain systems with polytopic description, a new design method of robust feedback model predictive control is proposed. By using a sequence of feedback control laws and designing the parameter-dependent Lyapunov function for each model, the design method provides more degrees of freedom and then can improve the control performance and enlarge the feasible region. Based on the characteristic property of the design method, an offline design algorithm is developed to reduce the MPC controller's online computation burden. The numerical examples verify the effectiveness of the results presented in this article.