Elastic Tube Model Predictive Control With Scaled Zonotopic Sets

A novel parameterization of the tube associated with the Robust Model Predictive Control law is proposed. The aim is to reduce the computational complexity by describing the tube as a sequence of elastically-scaled zonotopic sets. The developments demonstrate the efficacy within the context of constrained control of a system affected by additive and bounded exogenous disturbances. The underlying set containment conditions using zonotopic sets result in linear complexity.