On feasible sets for coalitional MPC

This paper presents novel results and observations on the analysis of tube-based controllers for Large-Scale Systems. These systems group several, possibly heterogeneous, interconnected subsystems into a single entity. Different subgroupings of subsystems lead to different coupling structures that have an impact on the design of robust decentralised controllers. We study the nesting properties of feasible regions and robust positive invariant sets for different partitions of the large-scale system in terms of partial order relations induced by the power set of the elements composing it.