Robust tube based model predictive control for constrained systems with dead-time

Computational demand is one of the most important issues in robust model predictive control (RMPC). Although RMPC strategies can be applied directly to control dead-time systems, by using usual approach, state-space representation order depends on the dead-time length which may lead to prohibitive implementation aspects. This paper proposes a explicit dead-time compensation strategy for tube based MPCs in order to use a delay free state-space representation. It is shown that explicit compensation is equivalent to the state-space augmentation if the robust constraints are suitable chosen.