A One-step Approach to Computing a Polytopic Robust Positively Invariant Set

Abstract

A procedure and theoretical results are presented for the problem of determining a minimal robust positively invariant (RPI) set for a linear discrete-time system subject to unknown, bounded disturbances. The procedure computes, via the solving of a single LP, a polytopic RPI set that is minimal with respect to the family of RPI sets generated from a finite number of inequalities with pre-defined normal vectors.

Accepted by IEEE Transactions on Automatic Control [Accepted version; corrected]

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