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This paper presents a robust self-triggered MPC controller design strategy for constrained linear systems with persistent bounded additive disturbance. Based on the so-called relaxed dynamic programming inequality and tube-MPC ideas, at a triggering time, the synthesis procedure allows us to determine both the updated MPC control action and the next triggering time. The resulting robust self-triggered MPC control law preserves stability and constraint satisfaction and also satisfies a certain specified performance requirement without requiring stabilizing terminal constraints. A simulation example illustrates the effectiveness of our proposed robust self-triggered MPC scheme. |
