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SUMMARYAsymmetric constraints have not received sufficient attention in the MPC literature, possibly due to the popularity of ellipsoidal terminal regions, which for asymmetric constraints would give 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 an MPC law based on a dual mode prediction strategy and proposes algorithms for the systematic design of the polytopic terminal sets. The efficacy of the results is illustrated through application to a coupled tanks system.

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