How to handle Asymmetric input constraint to control a system (with polytopic uncertainty) via MPC

[nagpalh]

Hi Friends,

I have been working on a control problem of a system with polytopic uncertainty. I want to use model predictive control to control the system. All research in literature is focused on symmetric input/control constraints although I want to incorporate asymmetric input constraint.

Does anyone has come across such kind of problem before?

I would appreciate any help.

Thank you,

Himanshu