Tube MPC scheme based on robust control invariant set with application to Lipschitz nonlinear systems

The paper presents a tube model predictive control (MPC) scheme of continuous-time nonlinear systems based on robust control invariant sets with respect to unknown but bounded disturbances. The cost functional of the optimization problem is not necessarily quadratic. The scheme has the same online computational burden as the standard MPC with guaranteed nominal stability. Robust stability, as well as recursive feasibility, is guaranteed if the optimization problem is feasible at the initial time instant. In particular, we consider a scheme to obtain robust control invariant sets for a class of Lipschitz nonlinear systems, and to show the effectiveness of the proposed schemes by a simple example.