Efficient suboptimal parametric implementations for predictive control

This paper develops parametric approaches to predictive control but differs from more conventional approaches in that it pre-defines the complexity of the solution rather than the allowable suboptimality. The paper proposes a novel parameterisation of the parametric regions which allows efficiency of definition, effective spanning of feasible region and also highly efficient search algorithms. Despite the suboptimality, the algorithm retains guaranteed stability, in the nominal case.