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This paper survey importance of urban open spaces and effective parameters on people attendance. In the recent years, low-quality environments have caused a low level of people attendance in that places and subsequently, lots of different problems in human life. One of the determining factors affecting the quality of the environment is providing human comfort. This paper discusses human comfort features. The aim of this article is presentation guidelines based on the creation of the wind and thermal comfort in urban open spaces. According to the fact, by the presence of comfort we can return people to urban open spaces. We derived some conceptual frameworks and categorized them on a chart. The table is divided into four climatic regions based on Iran climatology, to lead architects, urban planners for designing desirable spaces. Keywords: Comfort zone; urban environment; public open space; quality of life (QOL). eISSN 2514-7528 © 2018. The Authors. Published for AMER ABRA cE-Bs by e-International Publishing House, Ltd., UK. This is an open-access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/). Peer–review under responsibility of AMER (Association of Malaysian Environment-Behaviour Researchers), ABRA (Association of Behavioural Researchers on Asians) and cE-Bs (Centre for Environment-Behaviour Studies), Faculty of Architecture, Planning & Surveying, Universiti Teknologi MARA, Malaysia. DOI: https://doi.org/10.21834/jabs.v3i10.305

This paper proposes a tube‐based robust model predictive control (TMPC) scheme with an optimal tube for disturbance‐affected linear systems. In the literature on TMPC, there is no proper methodology to handle the considerable effects of the tube size on the closed‐loop system performance. There is usually a trade‐off between the disturbance rejection level and the amount of control effort available for the MPC problem. In some applications, it is nearly impossible to find a feasible TMPC to have a sufficient amount of states and inputs feasible sets for the MPC optimization problem. It would be a vital contribution to the TMPC designs if an algorithm is demonstrated which can investigate the suitability of TMPC for a specific system. This paper provides a solution for the mentioned challenges by introducing the concept of Quasi‐H∞ criterion and proposing a constrained optimization problem. The optimization problem is then reformulated and simplified to present an efficient methodology for the TMPC designers. The proposed TMPC scheme could benefit from a larger terminal region and result in a larger region of attraction. The achievements in TMPC designs are shown by simulations and comparisons with the previously used techniquesover numerical case studies.