Robust MPC algorithms using alternative parameterisations

This paper demonstrates the efficacy of alternative parameterisations of the degrees of freedom within a robust MPC algorithm. Alternative parameterisations have been shown to improve the feasible region when the number of degrees of freedom is limited for the nominal case. This paper extends that work to the robust scenario and shows that similar benefits accrue and moreover, the increase in complexity for the robust case as compared to the nominal case is much less than might be expected. The improvements, with respect to a conventional algorithm, are demonstrated by numerical examples.