Algorithm for robust explicit/multi-parametric MPC in embedded control systems

In this paper we present a framework for robust explicit/multi–parametric model predictive control (MPC). Based on four key steps, the proposed framework offers a systematic method for the off–line design, validation/testing and implementation of robust explicit MPC controllers for embedded systems. An important feature of the framework, is the use of a robust explicit/multi–parametric MPC technique that can guarantee that the system constraints are not violated due to the system model uncertainties. The framework is illustrated for the design of a robust explicit/multi–parametric MPC controller for the hydrogen desorption in metal– hydride bed storages.