Polytopic invariant sets for continuous-time systems

In Model Predictive Control stability can be guaranteed by the use of an invariant terminal set. In this paper a numerical method is described concerning the computation of a low-complexity polytopic-invariant set for linear and nonlinear continuous time-systems subject to state, input and rate constraints. The method determines an (sub)optimal linear feedback gain w.r.t. the volume of the invariant polytope. A trade-off between optimality of the feedback gain and the volume of the invariant polytope is made by use of a tuning parameter.