A dilated MPC control strategy for LPV linear systems

A novel model predictive control (MPC) strategy for input-saturated polytopic linear parameter varying (LPV) discrete-time systems is proposed. It is assumed that the scheduling vector of the plant parametrization is available at each time instant. A new dilation technique and parameter varying Lyapunov functions are exploited to reduce conservativeness of existing robust MPC paradigms. The contribution of this paper is to extend the RHC scheme presented in [5] to the general case of control horizons of arbitrary length N. Feasibility and closed-loop stability of this strategy are proved and two final numerical examples presented in order to show performance improvements w.r.t. preexisting techniques.