Offline Model Predictive Control Based on Weighted Projection over Polytopes

Algorithm 2

Sets of dynamically admissible commands.

Off-line computation

(1) Create invariant set of the extended

    closed-loop state-space

(2) Create the set by recursion

(3) For = 1 to

  (a) Project over to create

On-line computation

(1) Slice at estimated values of and

    to create the one-dimensional set

(2) Check if is inside to obtain

(3) For = 2 to

  (a) Slice at selected and

     known values of and to create

     the one-dimensional set

  (b) Check if is inside to obtain