Model predictive control for constrained uncertain, time-varying systems

In this paper, a new state feedback model predictive control for polytopic uncertain and/or time-varying linear discrete-time systems with input and state constraints is proposed. The main idea is to incorporate state decomposition principle and model predictive control in order to obtain a large domain of attraction using a short prediction horizon. At each time instant a quadratic programming problem is solved on-line. Proofs of recursive feasibility and asymptotic stability are given.