An off-line robust MPC algorithm for uncertain polytopic discrete-time systems using polyhedral invariant sets

► An off-line synthesis approach to robust model predictive control (MPC) using polyhedral invariant sets is presented. ► Most of the computational burdens are moved off-line by computing a sequence of state feedback control laws corresponding to a sequence of polyhedral invariant sets. ► The controller design is illustrated with two examples. ► Comparisons between the proposed algorithm and an ellipsoidal off-line robust MPC algorithm have been undertaken. ► The results show that the proposed algorithm can achieve better control performance. Moreover, a significantly larger stabilizable region is obtained.