Convex liftings-based robust control design

This paper presents a new approach for control design of constrained linear systems affected by bounded additive disturbances and polytopic uncertainties. This method hinges on so-called convex liftings which emulate control Lyapunov function by providing a constructive framework for optimization based control implementation. It will be shown that this method can guarantee the recursive feasibility and robust stability. Finally, a numerical example will be presented to illustrate this method.