Abstract
A receding horizon $H_{\infty}$ predictive control method is derived by solving a min-max problem in non-recursive forms. The min-max cost index is converted to a quadratic form which for systems with input saturation can be minimized using QP. Through the use of closed-loop prediction the prediction of states the use of closed-loop prediction the prediction of states in the presence of disturbances are made non-conservative and it become possible to get a tighter $H_{\infty}$ norm bound. Stability conditions and $H_{\infty}$ norm bounds on disturbance rejection are obtained in infinite horizon sence. Polyhedral types of feasible sets for sets and disturbances are adopted to deal with the input constraints. The weight selection procedures are given in terms of LMIs and the algorithm is formulated so that it can be solved via QP. This work is a modified version of an earlier work which was based on ellipsoidal type feasible sets[15].