On further optimizing prediction dynamics for robust model predictive control

This paper presents a new method for further optimizing the prediction dynamic of constrained robust model predictive control. More slack variables are deployed in the proposed linear matrix inequality (LMI) formulation in order to provide extra degrees of freedom for the dynamic controller. As illustrated by a canonical example, the extra degrees of freedom allow for better performance and wider applicability. In addition, such design can be performed offline leaving only a simple optimization problem for online realization.