Ellipsoidal low-demanding MPC schemes for uncertain polytopic discrete-time systems

A model predictive control (MPC) method based on ellipsoidal calculus is described in order to address the control problems in the presence of state and input constraints for uncertain polytopic linear plants under persistent disturbances. In order to reduce the usually high numerical complexity and conservatism associated to polytopic robust MPC schemes the present approach consists of moving off-line most part of the computational burden and using closed-loop predictions. An example is also presented.