Structured optimisation dynamics for robust triple mode predictive control

Abstract This paper makes contribution in the area of model based predictive control (MPC) and in particular examines to what extent structured optimisation dynamics can improve regions of attraction, performance and computational burden in the robust case. This paper focuses on the use of structured prediction dynamics within a robust triple mode MPC context and demonstrates that these can simplify the design significantly while retaining good robust feasibility regions and performance. The improvements, with respect to existing algorithms are demonstrated by numerical examples using statistical analysis.