A robust MPC for constrained nonlinear systems with uncertainties is presented. Outer bounds of the reachable sets of the system are used to predict the evolution of the system under uncertainty. A method that uses zonotopes to represent the approximated reachable sets is proposed. The closed-loop system is ultimately bounded thanks to a contractive constraint that drives the system to a robust invariant set. 2006 Elsevier Ltd. All rights reserved.
J. M. Bravo, T. Alamo, Eduardo F. Camacho