## Abstract

This paper presents a new (geometrical) approach to the computation of polyhedral positively invariant sets for general (possibly discontinuous) nonlinear systems, possibly affected by disturbances. Given a β-contractive ellipsoidal set script E sign, the key idea is to construct a polyhedral set that lies between the ellipsoidal sets βscript E sign and script E sign. A proof that the resulting polyhedral set is positively invariant (and contractive under an additional assumption) is given, and a new algorithm is developed to construct the desired polyhedral set. An advantage of the proposed method is that the problem of computing polyhedral invariant sets is formulated as a number of Quadratic Programming (QP) problems. The number of QP problems is guaranteed to be finite and therefore, the algorithm has finite termination. An important application of the proposed algorithm is the computation of polyhedral terminal constraint sets for model predictive control based on quadratic costs.

Original language | English |
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Title of host publication | Proceedings of the 2006 American Control Conference |

Pages | 3007-3012 |

Number of pages | 6 |

Publication status | Published - 1 Dec 2006 |

Event | 2006 American Control Conference (ACC 2006), June 14-16, 2006, Minneapolis, MN, USA - Minneapolis, MN, USA, Minneapolis, MN, United States Duration: 14 Jun 2006 → 16 Jun 2006 |

### Conference

Conference | 2006 American Control Conference (ACC 2006), June 14-16, 2006, Minneapolis, MN, USA |
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Abbreviated title | ACC 2006 |

Country/Territory | United States |

City | Minneapolis, MN |

Period | 14/06/06 → 16/06/06 |

## Keywords

- Contractive sets
- Model predictive control
- Positively invariant sets
- Robust stability
- Stability