Robust Model Predictive Control A Survey Alberto Bemporad and Manfred Morari Automatic Control Laboratory Swiss Federal Institute of Technology ETH Physikstrasse CH Z urich Switzerland bemporadmorar

eeethzch httpcontrolethzch Abstract This paper gives an overview of robustness in Model Predictive Control MPC After reviewing the basic concepts of MPC we survey the uncertainty descriptions considered in the MPC literature and the techniques propos

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