RMPCPy
Python code for implementing a set of basic robust model predictive control (RMPC) algorithms for linear systems. The algorithms incorporated in this repository are for both linear timeinvariant (LTI) and linear parametervarying (LPV) systems. These algorithms are listed below:

Shrinking Tube MPC for LTI Systems: Chisci L, Rossiter JA, Zappa G. Systems with persistent disturbances: predictive control with restricted constraints. Automatica 2001. Available at: https://www.sciencedirect.com/science/article/pii/S0005109801000516

Rigid Tube MPC for LTI Systems: Mayne DQ, Seron MM, Raković SV. Robust model predictive control of constrained linear systems with bounded disturbances. Automatica 2005. Available at: https://www.sciencedirect.com/science/article/pii/S0005109804002870

Disturbance Feedback Robust MPC for LTI Systems: Goulart PJ, Kerrigan EC, Maciejowski JM. Optimization over state feedback policies for robust control with constraints. Automatica 2006. Available at: https://www.sciencedirect.com/science/article/pii/S0005109806000021?via%3Dihub

A Simple Robust MPC for LPV Systems: Bujarbaruah M, Rosolia U, Stürz YR, Borrelli F. A simple robust MPC for linear systems with parametric and additive uncertainty. IEEE American Control Conference 2021. Available at: https://ieeexplore.ieee.org/document/9482957

Robust MPC for LPV Systems with OptimizationBased Constraint Tightening: Bujarbaruah M, Rosolia U, Stürz YR, Zhang X, Borrelli F. Robust MPC for linear systems with parametric and additive uncertainty: A novel constraint tightening approach. arXiv preprint, 2020. Available at: https://arxiv.org/abs/2007.00930