Robust Model Predictive Control with Almost Zero Online Computation

This paper provides a strategy for the problem of robust model predictive control of constrained, discrete-time systems with state and output disturbances. Using the linear matrix inequality (LMI) method, the nested geometric proportion asymptotically stable ellipsoid (GPASE) strategy is designed off-line, and then the designed shrinking ellipsoids strategy assures the system converges on the equivalent with an exponential convergence velocity. The biggest advantage of this method is the online computation is almost reduced to zero, which makes it possible to apply the designed control scheme not only to plants with slowly varying parameters, but also to fast ones. Finally, a simulation example shows the validity of the proposed technique.