Imperial College London


Faculty of EngineeringDepartment of Chemical Engineering

Professor of Process Systems Engineering



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BibTex format

author = {Villanueva, ME and Li, JC and Feng, X and Chachuat, B and Houska, B},
doi = {10.1016/j.ifacol.2017.08.599},
journal = {IFAC-PapersOnLine},
pages = {7175--7180},
title = {Computing ellipsoidal robust forward invariant tubes for nonlinear MPC},
url = {},
volume = {50},
year = {2017}

RIS format (EndNote, RefMan)

AB - Min-max differential inequalities (DIs) can be used to characterize robust forward invariant tubes with convex cross-section for a large class of nonlinear control systems. The advantage of using set-propagation over other existing approaches for tube MPC is that they avoid the discretization of control policies. Instead, the conservatism of min-max DIs in tube MPC arises from the discretization of sets in the state-space, while the control law is never discretized and remains defined implicitly via the solution of a min-max optimization problem. The contribution of this paper is the development of a practical implementation of min-max DIs for tube MPC using ellipsoidal-tube enclosures. We illustrate these developments with a spring-mass-damper system.
AU - Villanueva,ME
AU - Li,JC
AU - Feng,X
AU - Chachuat,B
AU - Houska,B
DO - 10.1016/j.ifacol.2017.08.599
EP - 7180
PY - 2017///
SN - 2405-8963
SP - 7175
TI - Computing ellipsoidal robust forward invariant tubes for nonlinear MPC
T2 - IFAC-PapersOnLine
UR -
UR -
UR -
VL - 50
ER -