An improved robust model predictive control for uncertain systems with input saturation

In this paper, we propose an improved robust model predictive control method for uncertain polytopic systems with input saturation constraints. For the synthesis of the robust controllers, a sequence of feedback control laws and a parameter-dependent Lyapunov function are utilized to further reduce the conservativeness and improve control performance. The state feedback control law is obtained by the solution of the convex optimization problem involving linear matrix inequalities (LMI) at each time step. The effectiveness of the proposed algorithm is demonstrated by a numerical example.