Robust and stochastic MPC of uncertain-parameter systems by Fleming, J

“…</p> <p>To define controllers using a tube, one must ensure that the polyhedra are a sub-set of the region defined by constraints. …”

Asymmetric constraints with polyhedral sets in MPC with application to coupled tanks system by Kouvaritakis, B, Cannon, M, Karas, A, Rohal-Ilkiv, B, Belavy, C, IEEE, IEEE

“…The work here adopts low complexity polyhedra for which invariance and feasibility under asymmetric constraints can be handled through the use of Farkas' lemma and related results. …”

Asymmetric constraints with polytopic sets in MPC with application to coupled tanks system by Kouvaritakis, B, Cannon, M, Karas, A, Rohal-Ilkiv, B, Belavy, C

“…The work here adopts low-complexity polyhedra for which invariance and feasibility under asymmetric constraints can be handled through the use of Farkas' lemma and related results. …”

Robust tube MPC using gain-scheduled policies for a class of LPV systems by Fleming, J, Hawari, Q, Cannon, M

“…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. …”