Research Article
Robust Tube-Based MPC with Piecewise Affine Control Laws
Table 3
Representative partitions of
.
| Regions | Corresponding control law |
| R1 | | R2 | | R3 | | R4 | | R5 | | R6 | | R7 | | R8 | | R9 | | R10 | | R11 | | R12 | | R13 | | R14 | | R15 | | R16 | | R17 | | R18 | | R19 | | R20 | | R21 | | R22 | | R23 | | R24 | | R25 | | R26 | | R27 | | R28 | | R29 | | R30 | |
|
|