Interpolation in Output-Feedback Tube-Based Robust MPC

The theoretical framework of tube-based robust model predictive control (MPC) for linear systems subject to bounded, additive disturbances has recently drawn attention. This paper considers an extension of this framework, specifically the use of interpolation methods for the terminal controller, which can increase the overall controller's region of attraction for a modest increase in complexity. Standard interpolation-based robust MPC guarantees robust asymptotic convergence of the closed-loop system to a robust invariant set. This paper shows that, by choosing a modified cost function and control law, robust exponential convergence can also be guaranteed.