Efficient robust predictive control

Invariant sets can be used in conjunction with known control laws to guarantee convergence of linear time varying (LTV) or uncertain systems with constraints. However, invariant sets are often associated with fixed control laws and hence can be limited in size by constraints. It is shown how to utilise degrees of freedom in the transient predictions in order to enlarge the invariant set and so widen the applicability of the convergence proof, for a given control law. The same degrees of freedom allow for computationally efficient and systematic performance optimisation.