Stability Constraints for Robust Model Predictive Control

Algorithm 1

RMPC control with Stability Constraints (RMPC-SC).

(1) Initialization: Define the model and the uncertainty set , also the control parameters , , and ,

   the reference signal and the initial conditions .

(2)

(3) Determine the matrix according to (29).

(4) while    do

(5)  Calculate and , according to (24).

(6)  Calculate optimizing (6), subject to constraints (32) and possibly other

     constraints related to the specific problem.

(7)  

(8)  Apply to the plant input, and get from the plant output.

(9)  

(10) end while