The inherent robustness of constrained linear model predictive control

We show that a sufficient condition for the robust stability of constrained linear model predictive control is for the plant to be open-loop stable, for zero to be a feasible solution of the associated quadratic programme and for the input weighting be sufficiently high. The result can be applied equally to state feedback and output feedback controllers with arbitrary prediction horizon. If integral action is included a further condition on the steady state modelling error is required for stability.