Aggregation based robust model predictive controller for systems with bounded disturbance

For the constrained linear system with bounded additive disturbance, an aggregation based robust model predictive controller was presented in this paper. Adopting the general framework of aggregation strategy to reduce the number of optimization variables, the online computational burden of the robust MPC controller was lower than that of the classic MPC controller. The feasibility and stability of the robust controller could be designed by selecting proper aggregation strategy, which was discussed in detail. Then the robust stability of the closed-loop system could be guaranteed. Numeral examples verified that the aggregation based robust MPC controller in the paper could effectively balance the online computation burden and control quality.