Robust multi-parametric model predictive control for discrete-time LPV systems

In this paper we study mpMPC problem for discrete-time, linear parameter varying systems exploiting the solution of the mpMPC for linear time invariant (LTI) systems. The proposed control method yields a controller which is adapted to take parameter changes into account. Thus it could improve the performance of mpMPC in terms of robustness to the presence of slowly varying parameters. It is expected that the method can be applied to process systems which suffer from slow variation of system parameters, such as aging and degradation. The proposed control method can be implemented conveniently as an add-on to the current mpMPC without any modification of the established mpMPC algorithm for LTI systems. Also the method consists of simple computational steps thus can be run on-line.