Robust model predictive control for input saturated and softened state constraints

This paper starts with a brief review of robust model predictive control (RMPC) algorithsms for uncertain systems using linear matrix inequalities (LMIs) subject to input and/or output saturated constraints. However when RMPC has both input and state constraints, a difficulty will arise due to the inability of the optimizer to satisfy the state constraints due to the constraints on inputs. Therefore, a novel RMPC scheme is presented that softens the state constraints as penalty terms are added to its objective function. These terms maintain state violation at low values until a constrained solution is returned. The state violation can be regulated by changing the value of the weighting factor. A novel robust predictive controller for input saturated and softened state constraints for linear time varying (LTV) systems with polytopic model uncertainties is presented.