A Modified Model Predictive Control Scheme

In implementations of MPC (Model Predictive Control) schemes, two issues need to be addressed. One is how to enlarge the stability region as much as possible. The other is how to guarantee stability when a computational time limitation exists. In this paper, a modified MPC scheme for constrained linear systems is described. An offine LMI-based iteration process is introduced to expand the stability region. At the same time, a database of feasible control sequences is generated offine so that stability can still be guaranteed in the case of computational time limitations. Simulation results illustrate the effectiveness of this new approach.