A tube-based approach to nonlinear explicit MPC

We propose an approximate explicit model predictive control (MPC) scheme based on ideas in robust MPC. For every subset in a partial partition of the state space we solve a robust MPC problem offline, where the (only) uncertainty is the initial condition which may be any state in this particular subset. As a consequence, the control law defined by the solution of the MPC problem is valid for any state in the subset. The online computational effort reduces to a point location problem and application of the pre-computed MPC solution