Computation of Maximal Admissible Robust Positive Invariant Sets for Linear Systems With Parametric and Additive Uncertainties

Abstract

In this letter, we address the problem of computing the maximal admissible robust positive invariant (MARPI) set for discrete-time linear time-varying systems with parametric uncertainties and additive disturbances. The system state and input are subject to hard constraints, and the system parameters and the exogenous disturbance are assumed to belong to known convex polytopes. We provide necessary and sufficient conditions for the existence of the non-empty MARPI set, and explore relevant features of the set that lead to an efficient finite-time converging algorithm with a suitable stopping criterion. The analysis hinges on backward reachable sets defined using recursively computed halfspaces and the minimal RPI set. A numerical example is used to validate the theoretical development.