Min–max MPC algorithm for LPV systems subject to input saturation

In this paper, a new model predictive control (MPC) algorithm is developed for polytopic linear parameter-varying (LPV) systems subject to input saturation. A set invariance condition for discrete-time LPV systems with input saturation is identified and the invariant set is determined by solving an LMI optimisation problem, which directly incorporates input saturation. Based on this set invariance condition, a min–max MPC algorithm is proposed for the LPV systems with input saturation. A gain-scheduling MPC algorithm is also proposed for the design of a parameter-dependent controller. Numerical examples demonstrate the effectiveness of the algorithms.