Robust MPC of constrained discrete-time nonlinear systems based on zonotopes

A robust MPC for constrained nonlinear system with uncertainties is presented. Uncertain evolution sets are used to predict the evolution of the system under any admisible uncertainty. The robust stability is guaranteed by a terminal and contractive constraint that drives the system to a robust positively invariant set. A new method to calculate the uncertain evolution sets is used. The method uses zonotopes to represent the uncertain sets.