Interpolated Model Predictive Controller for Linear Systems with Bounded Disturbances

Interpolation techniques are known to reduce computational complexity of model predictive control (MPC) (Bacic et al., 2003), (Rossiter et al., 2004). This paper presents the general interpolation based MPC (IMPC) for a constrained linear system with bounded disturbances. The resulting MPC control law comprises an interpolation between several single MPC control laws. Compared with single MPC control law implementations, the proposed approach has the advantage of combining the merits of having a large domain of attraction and good asymptotic behavior. The performances of the approach are presented via an example.