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An improved method of synthesizing constrained robust model predictive controller for systems with polytopic description is proposed. It off-line adopts parameter-dependent Lyapunov function reducing the conservativeness corresponding to unique Lyapunov function and constructs invariant sets guaranteeing the optimal performance cost for the worst-case, and on-line solves the min-max optimization problem with infinite horizon performance cost. Consequently, the initial feasible region could be enlarged and better performance is also achieved adopting the time varying terminal constraint set. The effectiveness of the proposed approach is verified by simulation examples.