Off-line robust constrained MPC with stable polytopic invariant set

Terminal constrained set and computational efficiency are extremely important in infinite horizon robust constrained model predictive control. Here, A polytopic invariant terminal set with arbitrary numbers of vertices and associated feedback law are presented instead of polytopic invariant terminal set with fixed numbers of vertices or partially invariant set, which could significantly enlarge the terminal set. At each sampling instant, select the smallest invariant set containing current state and implement corresponding feedback control law based on a sequence of polytopic invariant set constructed off-line one within another. Since no optimization is involved expect for a simple computation according to the vertices of the polytope, which can satisfy the demand of large scale systems and fast processes.