Tube Based Robust Model Predictive Control Polytopic and Ellipsoidal Approaches

This thesis deals with the extension of the standard model predictive control (MPC) strategy, such that robust constraint satisfaction and stability in the presence of unknown but bounded external disturbances can be guaranteed. This leads to tube based robust model predictive control (TRMPC), in which the optimization problem is solved for the nominal system, i.e. the system without uncertainties. The uncertainties are taken into account by ensuring that the actual system state remains within a positive invariant vicinity of the nominal system state.