Stabilizing non‐linear model predictive control using linear parameter‐varying embeddings and tubes

This paper proposes a model predictive control (MPC) approach for non-linear systems where the dynamics are embedded inside linear parameter-varying (LPV) representation. The MPC problem is therefore replaced by an LPV problem, without using linearization. Compared to general MPC, advantages of this that it allows tractable construction terminal set and cost, only single convex program must be solved online. key idea enables proving recursive feasibility stability, restrict state evolution system time-varying sequence constraint sets. Because in embeddings, there exists relationship between scheduling variables, these constraints used construct corresponding future tube. non-time-varying constraints, tighter bounds on trajectories obtained. Computing tube setting requires applying function Outer approximations projection-based can found, e.g., via interval analysis. computational properties demonstrated numerical examples.