Simple Homothetic Tube Model Predictive Control

This paper considers the robust model predictive control synthesis problem for constrained linear discrete time systems. The manuscript introduces a simple homothetic tube model predictive control synthesis method. The proposed method employs several novel features including: a more general parameterization of the state and control tubes based on homothety and invariance; a more flexible form of the terminal constraint set; and a relaxation of the dynamics of the sets that define the state and control tubes. Under rather mild assumptions it is demonstrated that the proposed method is computationally efficient while it induces strong system theoretic properties.