Codesign of Event Trigger and Feedback Policy in Robust Model Predictive Control

This paper is concerned with the robust event-triggered model predictive control (MPC) of discrete-time constrained linear systems subject to bounded additive disturbances. We make use of the interpolation technique to construct a feedback policy and tighten the original system constraint accordingly to fulfill robust constraint satisfaction. A dynamic event trigger that allows the controller to solve the optimization problem only at triggering time instants is developed, where the triggering threshold is related to the interpolating coefficient of the feedback policy and determined via optimization. We show that the proposed algorithm is recursively feasible and the closed-loop system is input-to-state stable in the attraction region. Finally, a numerical example is provided to verify the theoretical results.