| Summary: | This paper presents a method for robust model
predictive control (MPC) of linear parameter varying (LPV)
systems considering control policies that are affine functions
of the parameter, which is possible when only the ‘A’ and not
the ‘B’ matrix depends on the uncertain parameter (LPV-A
systems). This is less conservative than formulations in which
the policy is restricted to perturbations on a feedback law,
as it includes such policies as a special case. State and input
constraints are handled efficiently by bounding predicted states
in a sequence of polyhedra (i.e. tube MPC), that are parameterised by variables in the online optimisation. The resulting
controller can be implemented by online solution of a single
quadratic programming problem and can exploit rate bounds
on the LPV parameters, which requires a pre-processing step
at each iteration. Recursive feasibility and exponential stability
are proven and the approach is compared to existing methods
in numerical examples drawn from other publications, showing
reduced conservatism and improved regions of attraction.
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