One of the main advantages of predictive control approaches is the capability of dealing explicitly with constraints on the\r\nmanipulated and output variables. However, if the predictive control formulation does not consider model uncertainties, then the\r\nconstraint satisfaction may be compromised. A solution for this inconvenience is to use robust model predictive control (RMPC)\r\nstrategies based on linear matrix inequalities (LMIs). However, LMI-based RMPC formulations typically consider only symmetric\r\nconstraints. This paper proposes a method based on pseudoreferences to treat asymmetric output constraints in integrating SISO\r\nsystems. Such technique guarantees robust constraint satisfaction and convergence of the state to the desired equilibrium point. A\r\ncase study using numerical simulation indicates that satisfactory results can be achieved.
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