Model predictive control using affine disturbance feedback for constrained linear system

This paper proposes a control parametrization under model predictive control framework for constrained linear discrete time systems with bounded additive disturbances. The proposed approach has the same feasible domain as that obtained from parametrization over the family of time-varying state feedback policies. Under the proposed control law, the closed-loop system is stable in the sense that the state converges, in time, to a bounded set that has a characterization determined by a feedback gain.