Control of constrained dynamic systems

Model predictive control is the only advanced control technology that has made a substantial impact on industrial control problems; its success is largely due to its almost unique ability to handle hard constraints. Use is made of recent results of many researchers to present the main results on stability and robustness concisely and elegantly. Research on polytopic methods in constrained control is shown to be relevant to model predictive control, notably in the construction of domains of attraction and tracking domains of attraction, but also to a wide range of alternative methods for achieving constrained control.