Robust tracking MPC for uncertain system stabilisation using polyhedral sets

This paper is dedicated to the model predictive control (MPC) for constrained discrete time systems with additive uncertainties to track a references system. The tracking MPC problem distribute a control law appropriate for regulating constrained uncertain system to a given target system. Though, when the target operating point changes, the feasibility of the controller may be lost and the controller miss to track the reference. In this paper, a novel MPC for tracking variation system references is introduced. The main issue consist to minimizing a cost that penalizes the error between the state of the original system and the reference system state, taking into account, an polyhedral invariant set for tracking is considired as extended terminal constraint. The properties of the proposed controller has been tested in two example. Simulation results show that the proposed tracking MPC successfully achieves robust tracking in terms of control performance.