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IQC analysis of linear constrained MPC

It is well-known that linear constrained model predictive control has a nonlinearity that is continuous and piecewise afne. Under certain feasibility conditions the nonlinearity may be sector bounded and shown to satisfy sufcient conditions for the existence of Zames-Falb multipliers. Thus the nonlinearity satises a wide class of integral quadratic constraint (IQC). Standard analysis then allows a closedloop robust stability test for innity-norm bounded model uncertainty. We illustrate the results for output feedback MPC with integral action.