1: Convert the continuous system into a state space system, where the states are the errors and the input is the |

control action, according to equation (11); |

2: Compute the maximal contractive controlled invariant set contained in the set of constraints, which must |

be reexplained in terms of the new state representation; |

3: Solve the mp-LP problem described in equation (2); |

4: Compute the integral of error, error, and derivative of error; |

5: Identify which polyhedral region the computed state belongs to. |

6: Use the affine control law to control the system with and being the mp_PID parameters, |

corresponding to the j-th polyhedral region; |

7: If the control routine is not interrupted, return to step 4. |