Homothetic tube MPC for constrained linear difference inclusions

The paper considers robust model predictive control (MPC) for constrained linear difference inclusions. In particular, the recent homothetic tube MPC (HTMPC) synthesis is generalized to obtain a robust MPC synthesis for constrained linear discrete time systems subject to both the multiplicative and additive uncertainty. Under natural assumptions, the proposed method induces strong system theoretic properties. The on-line optimization necessary for the implementation of the developed framework is computationally practicable, and its complexity is marginally increased compared to those associated with the existing TMPC.