An MPC approach for LPV systems in input-output form

In this paper, a discrete-time model predictive control (MPC) design approach is proposed to control systems described by linear parameter-varying (LPV) models in input-output form subject to constraints. To ensure stability of the closed-loop system, a quadratic terminal cost along with an ellipsoidal terminal constraint are included in the control optimization problem. The proposed scheme is a robust LPV-MPC scheme, which considers future values of the scheduling variable being uncertain and varying inside a prescribed polytope. The MPC design problem is formulated as a linear matrix inequality (LMI) problem. The effectiveness of the proposed LPV-MPC design is demonstrated using a numerical example