Delay-Dependent Robust Model Predictive Control for Constrained LPV Systems

This paper propose a delay-dependent robust model predictive control scheme for linear parameter-varying systems with unknown bounded delay and input constraints. We present a parameter dependent sufficient condition of cost monotonicity. The proposed method is based on parameter-dependent controllers, which are designed by minimizing the upper bound of the worst-case cost function and by using the sufficient condition. The proposed delay-dependent robust model predictive control law guarantees the stability of the closed-loop systems. The effectiveness of the method is illustrated by a numerical example.