Reachability Analysis and Control Synthesis for Uncertain Linear Systems in MPT

Abstract

Software tools play an important dissemination role by bringing cutting-edge theoretical algorithms into the hands of researchers and practitioners. This paper introduces a new robust analysis and control module of the Multi-Parametric toolbox, which is one of the most successful open-source tools in the field. We discuss how robust reachable and invariant sets can be computed using a convenient user interface. Such sets play an important role in many control-oriented tasks, such as in design of recursively feasible optimization-based control laws. Moreover, the new module also allows to synthesize robustly stabilizing linear controller and, more importantly, offers robust Model Predictive Control (MPC) synthesis features. The main aim of the paper is illustrate how complex tasks can be implemented using simple operators such that more sophisticated algorithms could be developed easily by the research community.