MPC Design: How to design a model predictive controller for constrained linear systems. We give a quick revision of the previous video lecture (see https://youtu.be/O_Lw1mZTi_g) and state again the MPC stability assumptions. We focus mainly on the terminal condition (TC) that involves the terminal ingredients of the MPC problem: Vf and Xf. We then introduce the concept of a terminal control law (κf) and explain how to use it to design MPCs for constrained linear systems. We define the maximal (i.e., largest) invariant set and give an algorithm that can be used to compute it.
▬ Contents ▬▬▬▬▬▬▬▬▬▬
00:00 Intro
00:30 Revision
03:24 Design
15:31 Invariant Sets
24:02 Inclusion of Polytopes
28:15 Example
32:45 Conclusions
