Robust Model Predictive Control with Polytopic Model Uncertainty through System Level Synthesis

@article{Chen2022RobustMP,
  title={Robust Model Predictive Control with Polytopic Model Uncertainty through System Level Synthesis},
  author={Shaoru Chen and Victor M. Preciado and Manfred Morari and N. Matni},
  journal={ArXiv},
  year={2022},
  volume={abs/2203.11375}
}
We propose a novel method for robust model predictive control (MPC) of uncertain systems subject to both polytopic model uncertainty and additive disturbances. In our method, we over-approximate the actual uncertainty by a surrogate additive disturbance which simplifies constraint tightening of the robust optimal control problem. Using System Level Synthesis, we can optimize over a robust linear state feedback control policy and the uncertainty over-approximation parameters jointly and in a… 

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