COTORRUELO , Andres

This article presents an extension to the nonlinear model predictive control (MPC) for tracking scheme able to guarantee convergence even in cases of nonconvex output admissible sets. This is achieved by incorporating a convexifying homeomorphism in the optimization problem, allowing it to be solved in the convex space. A novel class of...

The goal of this paper is to present a systematic method to compute reference dependent positively in- variant sets for systems subject to constraints. To this end, we first characterize these sets as level sets of reference dependent Lyapunov functions. Based on this characterization and using Sum of Squares theory, we provide a polynomial...