Min-max feedback MPC using a time-varying terminal constraint set and comments on “Efficient robust constrained model predictive control with a time-varying terminal constraint set”

In this paper a robust MPC scheme using a time-varying terminal constraint set for input-constrained systems with a polytopic uncertainty description is proposed. The new scheme is a refinement of the algorithm published in “Efficient robust constrained model predictive control with a time-varying terminal constraint set” [Z. Wan, M.V. Kothare, Systems Control Lett. 48 (2003) 375-383]. The original result contains an error in the stability proof which is solved in this paper by introducing within-horizon feedback [P.O.M. Scokaert, D.Q. Mayne, IEEE Trans. Automat. Control 43(8) (1998) 1136-1142]. in the on-line algorithm. The new scheme is proven to be robustly asymptotically stabilizing but at the cost of an increased computational complexity.