Stochastic disturbance rejection in model predictive control by randomized algorithms

In this paper we consider model predictive control with stochastic disturbances and input constraints. We present an algorithm which can solve this problem approximately but with arbitrary high accuracy. The optimization at each time step is a closed loop optimization and therefore takes into account the effect of disturbances over, the horizon in the optimization. Via an example it is shown that this gives a clear improvement of performance although at the expense of a large computational effort