Min-max feedback model predictive control for constrained linear systems

Min-max feedback formulations of model predictive control are discussed, both in the fixed and variable horizon contexts. The control schemes the authors discuss introduce, in the control optimization, the notion that feedback is present in the receding-horizon implementation of thf control. This leads to improved performance, compared to standard model predictive control, and resolves the feasibility difficulties that arise with the min-max techniques that are documented in the literature. The stabilizing properties of the methods are discussed as well as some practical implementation details.