MIN-MAX FEEDBACK MODEL-PREDICTIVE CONTROL FOR CONSTRAINED LINEAR-SYSTEMS

Min-max feedback formulations of model predictive control are discusse d, both in the fixed and variable horizon contexts. The control scheme s the authors discuss introduce, in the control optimization, the noti on that feedback is present in the receding-horizon implementation of thf control. This leads to improved performance, compared to standard model predictive control, and resolves the feasibility difficulties th at arise with the min-max techniques that are documented in the litera ture. The stabilizing properties of the methods are discussed as well as some practical implementation details.