Tube MPC With Time-Varying Cross-Sections

In this article, we consider tube model predictive control of discrete-time linear systems subject to additive bounded disturbances and mixed state and control constraints. An improved tube model predictive controller, leveraging the advantages and mitigating the disadvantages of three pivotal existing methods, is proposed. Its computational aspects and theoretical properties are thoroughly discussed and compared with its predecessors. Two numerical examples are provided to illustrate the benefits of the proposed method.