A set-theoretic approach to dependable control of uncertain linear systems

This paper concerns the feedback control of discrete-time systems subject to disturbances and uncertainties in both model parameters and signal measurements. The main result is a new approach to design a feedback control keeping the system state in a target set. Techniques on invariant polyhedra are extended in order to incorporate the assumption of unknown-but-bounded uncertainties and disturbances. The method is illustrated by a mobile robot experiment.