Further Results on "Robust MPC Using Linear Matrix Inequalities"

M. Lazar, W.P.M.H. Heemels, D. Munoz de la Pena, T. Alamo

Research output: Chapter in Book/Report/Conference proceedingChapterAcademic

10 Citations (Scopus)


This paper presents a novelmethod for designing the terminal cost and the auxiliary control law (ACL) for robust MPC of uncertain linear systems, such that ISS is a priori guaranteed for the closed-loop system. The method is based on the solution of a set of LMIs. An explicit relation is established between the proposed method and control design. This relation shows that the LMI-based optimal solution of the synthesis problem solves the terminal cost and ACL problem in inf-sup MPC, for a particular choice of the stage cost. This result, which was somehow missing in the MPC literature, is of general interest as it connects well known linear control problems to robust MPC design.
Original languageEnglish
Title of host publicationNonlinear Model Predictive Control : Towards New Challenging Applications
EditorsL. Magni, F. Allgöwer, D.M. Raimondo
Place of PublicationBerlin
ISBN (Print)978-3-540-72698-2
Publication statusPublished - 2009

Publication series

NameLecture notes in control and information sciences


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