Compact explicit MPC with guarantee of feasibility for tracking

This paper deals with the constrained model predictive control, and focuses on the reference tracking problem. The analysis of the feasibility limitations is done using explicit formulations of the multi-parametric optimizations and invariant sets theory. The enlargement of the set of feasible trajectories by using reference governor schemes is discussed. The main result is a compact piecewise affine law with guarantees of feasibility, constructed by mixing the explicit formulations of the predictive law and the reference adjustment mechanism.