Asymmetric constraints have not received sufficient attention
in the MPC literature possibly due to the popularity
of ellipsoidal terminal regions, which for asymmetric
constraints would result in conservative results. The work
here adopts low complexity polyhedra for which invariance
and feasibility under asymmetric constraints can be handled
through the use of Farkas' lemma and related results.
The paper embeds these results into a MPC law based on a
dual mode prediction strategy and proposes algorithms for
the systematic design of the polyhedral terminal sets. The
efficacy of the results is illustrated through application to a
coupled tanks system.
