MPC-based tracking for real-time systems subject to time-varying polytopic constraints

This paper presents a real‐time MPC‐based tracking strategy for linear systems subject to time‐varying constraints. The framework is quite general because the time‐varying constraints can apply both to the state and to the input. To handle the problem, a polytopic invariant set computed off‐line is homogeneously dilated or contracted on‐line to fit the polytopic time‐varying constraints. The invariant set is used as an admissible terminal constraint set so that it guarantees stability and convergence in the tracking task. The on‐line cost of the homothetic invariant set computation is low enough to cope with systems subject to stringent real‐time constraints. Copyright 2015 John Wiley & Sons, Ltd.