Off-Line Robust Constrained MPC for Linear Time-Varying Systems with Persistent Disturbances

<table>The state trajectories in Example <a href="https://static.hindawi.com/articles/mpe/volume-2014/936093/figures/#ex5.2">2</a>.</table>

Mathematical Problems in Engineering

Figure 4: Off-Line Robust Constrained MPC for Linear Time-Varying Systems with Persistent Disturbances 