A new algorithm for efficient MPC and a comparison with competing schemes

An approach for constrained predictive control of linear systems (or uncertain systems described by polytopic uncertainty models) is presented. The approach consists of a non-convex offline problem, and an efficient online problem. The offline problem can be considered as a generalization of earlier results, and a solver for the non-convex optimization problem is developed. Two examples, one being a laboratory experiment, compare the approach to existing approaches, revealing both advantages and disadvantages.