In this chapter, we discuss the challenges of robust parametric model predictive control (RpMPC). Also, we present a method for RpMPC for linear, discrete-time dynamic systems with exogenous disturbances (input uncertainty) and a novel method for RpMPC for systems with model uncertainty. In both cases the uncertainty is described by the realistic scenario where no uncertainty model (stochastic or deterministic) is known, but it is assumed that the uncertainty variables satisfy a set of inequalities. 2007 Wiley-VCH Verlag GmbH & Co. KGaA.
