“…As a short explanation, note that by setting the φ-dependent coefficient matrix Y to be zeros in Equation 23, it would reduce to the classic linear feedback law of u = h + Mw, meaning that any feasible solution (h, M, ε u , ε x ) to Equation 48 can be attained in Equation 47 by letting (h, M, Y, ε u , ε x ) = (h,M, 0, ε u , ε x ). By adopting this richer presentation, problem (P) is parameterized as a relaxed program in (47) compared with(48), which parameterizes the control law only in terms of the disturbance, as any feasible solution to the latter problem is still feasible to the former one,13 achieving at least equally optimal values. Therefore, thanks to the introduction of an auxiliary random vector φ, the decision variable relies on both the primary disturbance w and the introduced vector, enjoying a richer parameterization, and can be consequently less conservative than the classic affine disturbance prediction.Due to the RHC nature of MPC, it is important to guarantee that the optimization problem remain feasible at all times, as the evolution of the state trajectory is not admissible otherwise.…”