MPC for uncertain systems using the Youla parameterizations

Several approaches have been taken in the past to deal with uncertainty in constrained predictive control. The major drawbacks of these efforts are usually either conservativeness and/or on-line computational complexity. In this work we examine the possibility of dealing with uncertainty through the use of the primary and the dual Youla parameterizations. The dual Youla parameter can be seen as a frequency weighted measure of the uncertainty and the primary Youla parameter can be seen as a controller for this uncertainty. The work is an application of the methodology to constraint control.