Constrained MPC for uncertain linear systems with ellipsoidal target sets

Robustly feasible invariant sets provide a way of identifying stabilizable regions for uncertain/time-varying linear systems with input constraints un der fixed state feedback control laws. With the introduction of extra degre es of freedom in the form of perturbed control laws, these stabilizable reg ions can be enlarged. This was done in Lee and Kouvaritakis (Automatica 36 (2000) 1497-1504) in conjunction with polyhedral invariant sets and the aim here is to extend this work using ellipsoidal target sets. We also extend the analysis to take into account both polytopic and unstructured bounded d isturbances, as well as unstructured uncertainties. (C) 2001 Elsevier Scien ce B.V. All rights reserved.