Tracking setpoint robust model predictive control for input saturated and softened state constraints

This paper starts with a brief review of robust model predictive control (RMPC) schemes for
uncertain systems using linear matrix inequalities (LMIs) subject to input saturated and softened
state constraints. However when RMPC has both input and state constraints, difficulties will arise due to the inability to satisfy the state constraints. In this paper, we develop two new tracking setpoint RMPC schemes with common Lyapunov function and with zero terminal equality subject to input saturated and softened state constraints. A brief comparative simulation of the two new RMPC
schemes is implemented via examples to demonstrate the ability of the new RMPC schemes.