Min-max feedback MPC using a time-varying terminal constraint set and comments on "Efficient robust constrained model predictive control with a time-varying terminal constraint set"

In this paper a robust MPC scheme using a time-varying terminal constraint set for input-constrained systems with a polytopic uncertainty description is proposed. The new scheme is a refinement to the algorithm published in “Efficient robust constrained model predictive control with a time-varying terminal constraint set” [1]. The original result contains an error in the stability proof which is solved in this paper by introducing within-horizon feedback [2] in the on-line algorithm. The new scheme is proven to be robustly, asymptotically stabilizing but at the cost of an increased computational complexity.