ROBUST MODEL PREDICTIVE CONTROL FOR PIECEWISE AFFINE SYSTEMS SUBJECT TO BOUNDED DISTURBANCES

This paper investigates the robust tracking and regulation control problems for discrete-time, piecewise affine systems subject to bounded disturbances. In particular, the main question addressed is related to the existence of a controller such that the closed-loop system exhibits an attainable desired behavior under all possible disturbances. Checking attainability and calculating the state space regions for which a robust control is assured despite the disturbance is performed using a polyhedral approach. A model predictive control law derived from a quadratic cost function minimization is further examined as a fast sub-optimal robust control. An application of the proposed technique to a two-tank benchmark is finally presented.