A robust feasible predictive control scheme is put forward vhich adopts nominal model and applies for constrained linear systems with polytopic uncertainty . set invariance is the theory which underlies this control profile . and the key point to this predictive control paradigm is to append robust feasible constraint in the online optimization problem 基于不變集理論,提出了一種采用標稱模型的、適用于有約束凸多面體不確定線性系統(tǒng)的預測控制的設(shè)計框架,其關(guān)鍵在于在線優(yōu)化問題附加適當?shù)念~外的魯棒可行約束。