Robust Model Predictive Control Using Linear Matrix Inequalities for the Treatment of Asymmetric Output Constraints

Table 1

Pseudoreferences and associated output constraints.

𝑖	𝑟𝑖	𝑦𝑖
0	−4.95	5.05
1	−2.425	2.525
2	−1.1625	1.2625
3	−0.53125	0.63125
4	−0.21563	0.31562
5	−0.057813	0.15781
6	0	0.1