Explicit model predictive control through robust optimization

A strategy that calculates an explicit state feedback policy to regulate constrained uncertain discrete-time linear systems is presented. We consider processes, affected by box-bounded multiplicative uncertainty as well bounded additive with and inputs constraints. The proposed method includes (i) the calculation of a terminal set constraint (ii) robust reformulation constraints in prediction horizon. These features allow derivation desired solving single multiparametric quadratic programming problem guarantees feasible operation presence uncertainty. Additionally, we employ variable elimination approaches enhance computational performance strategy. demonstrate steps benefits these developments numerical example chemical engineering case study.