Secure Robust Model Predictive Control for Polytopic Uncertain Systems Using Semi-Homomorphic Encryption

A secure and privacy-preserving implementation of a robust model predictive controller (RMPC) for polytopic uncertain systems using Paillier encryption is presented. The Paillier encryption scheme enables the evaluation of control actions in encrypted form, thereby safeguarding the privacy of sensor measurements within the system. Conditions on the parameters of the encrypted control scheme are provided to ensure system stability and guarantee bounded control performance. An encrypted RMPC implementation algorithm is provided.