Model predictive control using segregated disturbance feedback

This paper proposes a new control parametrization under Model Predictive Controller (MPC) framework for constrained linear discrete time systems with bounded additive disturbances. The parametrization takes the form of a piecewise affine disturbance feedback and is a generalization of the linear disturbance feedback proposed in the literature. Thus, performance of the resultant MPC controller may be improved. Properties and the numerical computations of the parametrization are discussed. Under mild assumptions of the disturbance set, the associated finite-horizon optimization can be computed efficiently. Stability of the closed-loop system with the proposed parametrization is also ensured.