A predictive control strategy for Norm-Bounded LPV discrete-time systems with bounded rates of parameter change

A novel predictive control strategy for input-saturated norm-bounded linear parameter varying discrete- time systems is proposed. The solution is computed by minimizing an upper bound to the ‘worst-case’ infinite horizon quadratic cost under the constraint of steering the future state evolutions, emanating from the current state, into a feasible and positive invariant set. It will be shown that the ‘size’ of this terminal set depends on the rate of change of the scheduling parameter, which is assumed to be bounded and measurable