Min-max MPC for LPV systems subject to actuator saturation by a saturation-dependent Lyapunov function

In this paper, we present a model predictive control algorithm for input-saturated systems by a saturation-dependent Lyapunov function approach. The saturation-dependent Lyapunov function captures the real-time information on the severity of saturation and thus leads to less conservative results in controller design. A set invariance condition for the systems with input saturation is presented. A min-max MPC algorithm is proposed for the linear parameter-varying (LPV) systems based on the invariant set. The MPC controller is determined by solving a linear matrix inequality (LMI) optimization problem. Numerical example demonstrates the effectiveness of the proposed algorithm.