An improved discrete-time robust approach for constrained model predictive control

In this paper we present a new technique to face the so-called constrained Model Predictive Control. The main advantage of this new approach with respect to other well-known techniques is represented by the reduced conservativeness. More precisely, the technique described in this paper can be applied to polytopic uncertain systems and is based on the use of several Lyapunov functions each one corresponding to a different vertex of the uncertainty´s polytope.