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A SIMPLE ALGORITHM FOR ROBUST MPC

Abstract The majority of recent works on robust MPC either require very burdensome online computations or are restricted to relatively small feasible regions. This paper builds on a recent work which demonstrated that one could compute the maximal admissible set for a linear parameter varying system and shows how this set can be used as the terminal region and hence allows the definition of an MPC algorithm requiring only quadratic programming, but with a maximal region of attraction and guaranteed convergence for the robust case.