Comments on: “Efficient robust constrained model predictive control with a time varying terminal constraint set” by Wan and Kothare

We present an algorithm that modifies the original formulation proposed in Wan and Kothare [Efficient robust constrained model predictive control with a time-varying terminal constraint set, Systems Control Lett. 48 (2003) 375–383]. The modified algorithm can be proved to be robustly stabilizing and preserves all the advantages of the original algorithm, thereby overcoming the limitation pointed out recently by Pluymers et al. [Min–max feedback MPC using a time-varying terminal constraint set and comments on “Efficient robust constrained model predictive control with a time-varying terminal constraint set”, Systems Control Lett. 54 (2005) 1143–1148].