A set-theoretic generalization of dissipativity with applications in Tube MPC

This paper introduces a framework for analyzing a general class of uncertain nonlinear discrete-time systems with given state-, control-, and disturbance constraints. In particular, we propose a set-theoretic generalization of the concept of dissipativity for systems that are affected by external disturbances. The corresponding theoretical developments build upon set based analysis methods and lay a general theoretical foundation for a rigorous stability analysis of economic tube model predictive controllers.