Alternative LMI-based Robust MPC Design Approaches∗

The paper presents several alternative approaches of on-line robust MPC design based on LMI formulation. The proposed approaches are based on existing approaches. Suitable properties of these approaches were adopted to reduce the conservativeness of the quadratic stability condition, to reduce the control inputs constraints evaluation, and to minimize a computational effort. Therefore these alternative robust MPC methods may be considered as a tool for overcoming some of robust MPC design obstacles.