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A mixed multi-step feedback RMPC for LPV systems with bounded parameter measurement errors and parameter changes

For linear parameter varying (LPV) systems with bounded parameter measurement errors and parameter changes, we predict the families of future models which can deal with the measurement errors by utilizing the information on system parameters. Based on multi-step control sets and parameter-dependent feedback control, a mixed multi-step feedback robust model predictive control (RMPC) is developed to introduce more freedom and thus reduce the conservativeness. The proposed method achieves good control performance with guaranteed robust and stability properties, which is verified by simulation example.