Abstract
Abstract We consider the problem of the control of discrete-time linear systems affectected by unknown but bounded disturbances in the presence of both control and state constraints The goal is produce a feedback control law assuring that at each time the system state and control belong to their assigned constraint sets for every admissible disturbance Polyhedral constraints are condidered. The problem is solved by the evaluation of the maximal U-D invariant set contained in the state constraint set that is used on-line to produce the control
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