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— Recent developments in stochastic MPC provided guarantees of closed loop stability and satisfaction of probabilis-tic and hard constraints. However the required computation can be formidable for anything other than short prediction horizons. This difficulty is removed in the current paper through the use of tubes of fixed cross-section and variable(More)
A convex formulation is derived for optimizing dynamic feedback laws for constrained linear systems with polytopic uncertainty. We show that, when it exists, the maximal invariant ellipsoidal set for the plant state under a dynamic feedback law incorporating any chosen static feedback gain is equal to the maximal invariant ellipsoidal set under any linear(More)