A reduced-size LP formulation for robust MPC using impulse response models

P. Campo and M. Morari (1987) have derived a generally large, linear programming (LP) problem which can be used to solve a min-max problem arising in robust model predictive control (MPC) for linear systems. That formulation involves minimization (with respect to the controls) of the maximum (with respect to the impulse response as it ranges over a polytope of possible impulse responses) of the infinity norm of the error between the predicted and required system outputs. An alternative LP problem is derived which is generally much smaller and is therefore more convenient for online control