A Single-Tube Robust Model Predictive Control Method Based on ε-Approximation

This paper aims to solve the problem of robust model predictive control, contradiction system robustness, and conservative terminal constraint set range. A control (RMPC) method based on an ε-approximation single-tube is proposed. We construct a RMPC structure for linear discrete time invariant systems with additive disturbances. To this structure, we add state estimation feedback improve convergence rate. Furthermore, use estimate less conservatism, thus improving robustness. Then, conduct stability analysis system. The simulation results demonstrate interference allowance advantages proposed method.