Quasi-Linear Model Predictive Control: Stability, Modelling and Implementation

This thesis presents a Nonlinear Model Predictive Control (NMPC) approach based on quasi-Linear Parameter Varying (quasi-LPV) representations of the system model and constraints. This enables the complex online optimization problem entailed by NMPC to be carried out efficiently. Furthermore, methods and results from the quasi-LPV framework are leveraged to derive tractable stability conditions which are both easier to establish and comparatively less conservative than those derived by other methods.