Tube-Based MPC for Uncertain Sampled-Data Control Systems With Inter-Sample Reachability Analysis

This letter presents an output-feedback tube-based model predictive control (MPC) framework for linear sampled-data control systems subject to external disturbances and non-convex constraints. The proposed approach rigorously incorporates inter-sample reachability analysis to account for the continuous-time evolution of system trajectories between discrete sampling instances and to ensure constraint satisfaction in the continuous time domain. The resulting continuous-time tube-based MPC scheme is demonstrated to ensure that trajectories remain within (potentially non-convex) safe sets throughout the continuous-time evolution.

IEEE Control Systems Letters