Computational aspects of robust adaptive MPC

The control objective is to feasibly stabilize x to a given compact set, that is not necessarily robustly invariant with respect to the full uncertainty. It is assumed that a set and instantaneous cost are selected. The robust control design proposed depends on the knowledge of appropriate Lipschitz bounds for the x-dependence of the dynamics f (x, u) and g(x, u), and for the penalty functions L(x, u) and W(x, O).