Improved Prediction Dynamics for Robust MPC

This paper proposes a new MPC control scheme for polytopic uncertain and/or time-varying systems with state and input constraints. The policies we consider employ: i) the intersection of ellipsoids to characterize domain attraction, ii) Lyapunov function bound from above cost function, iii) tailored ADMM algorithm solve efficiently online optimization problem. With respect other well known techniques, main advantage approach is reduced conservativeness.