Pornchai BumroongsriSoorathep KheawhomMahidol UniversityChulalongkorn University2018-12-212019-03-142018-12-212019-03-142017-08-01International Journal of Control, Automation and Systems. Vol.15, No.4 (2017), 1479-148420054092159864462-s2.0-85019905263https://repository.li.mahidol.ac.th/handle/20.500.14594/42333© 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg. This paper focuses on the problem of robustly stabilizing uncertain discrete-time systems subject to bounded disturbances. The proposed tube-based model predictive controller ensures that all possible realizations of the state trajectory lie in the time-varying tubes so robust stability and satisfaction of the state and input constraints are guaranteed. The time-varying tubes are computed off-line so the on-line computational time is tractable. At each sampling time, the precomputed time-varying tubes are included in the optimal control problem as the constraints in the prediction horizon and only a quadratic programming problem is solved. In comparison to the algorithm that calculates the time-varying tubes on-line, the proposed algorithm can achieve the same level of control performance while the on-line computational time is greatly reduced.Mahidol UniversityComputer ScienceEngineeringArticleSCOPUS10.1007/s12555-016-0227-z