Implement SLS MPC for linear systems subject to polytopic model uncertainty and additive disturbances.

Robust model predictive control of uncertain linear dynamical systems subject to polytopic model uncertainty and additive disturbances.

This simulation file demonstrates a variant of Robust Tube MPC in which the initial nominal state is a decision variable. Theoretical background can be found at "Mayne, David Q., María M. Seron, and S. V. Raković. "Robust model predictive control of constrained linear systems with bounded disturbances." Automatica 41.2 (2005): 219-224."

Robust model predictive control of discrete-time time-delay systems using System Level Synthesis (linear time-varying state feedback controllers).