Abstract
In the paper by Limon et al., the authors proposed a design method of stabilizing MPC design for constrained linear systems. Using a polytopic differential inclusion of the saturated closed-loop system, the authors have computed a quadratic terminal cost and a polytopic invariant. As a result, a stabilizing MPC controller can be designed. In MPC, the proposed method is an interesting approach. Although the paper is well organized and clearly written, one problem of computing the convex invariant set seems to be probably considered as an open approach. For this reason and for the further discussion, the problem statement and further work are stated in this discussion.
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