{
  "abstract": "This paper develops a convex tube model predictive control formulation for constrained nonlinear systems. We consider dynamics described by a discrete-time state-space model with parametric and additive uncertainty that admits a difference-of-convex decomposition. Convex directional bounds of the nonlinear dynamics are combined with configuration-constrained polytopic tubes, whose predefined combinatorial structure yields an affine parameterization of their vertices. The resulting finite-dimensional sufficient conditions certify robust one-step tube propagation under parametric uncertainty and additive disturbances, while allowing the tube geometry and an associated vertex control law to be optimized jointly in a single convex program. An implicit terminal condition guarantees recursive feasibility and convergence of the predicted tube to a target robust control invariant set. Numerical results illustrate the closed-loop properties and the trade-off between geometric flexibility and computational complexity.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2609.07809",
  "author_total": 5,
  "authors": [
    {
      "name": "Filippo Badalamenti"
    },
    {
      "name": "Jose A. Borja-Conde"
    },
    {
      "name": "Filiberto Fele"
    },
    {
      "name": "Teodoro Alamo"
    },
    {
      "name": "Daniel Limon"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/afd5ts80fs25c.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2609.07809",
  "fulltext_url": null,
  "id": "afd5ts80fs25c",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2609.07809",
  "language": null,
  "licence": "CC-BY-4.0",
  "licence_label": "CC BY 4.0",
  "licence_source": "article",
  "licence_url": "http://creativecommons.org/licenses/by/4.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.SY"
    ],
    [
      "arxiv",
      "eess.SY"
    ],
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "2207|Advanced Control Systems Optimization"
    ]
  ],
  "openalex": "W7212080435",
  "pdf_url": "https://arxiv.org/pdf/2609.07809",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-07",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/afd5ts80fs25c.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:19:58Z",
      "native_id": "2609.07809",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2609.07809"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Configuration-Constrained Tube MPC for Difference-of-Convex Nonlinear Systems",
  "title_text": "Configuration-Constrained Tube MPC for Difference-of-Convex Nonlinear Systems",
  "type": "preprint",
  "updated_at": "2026-10-30T12:19:58Z",
  "url": "https://research.draconitic.com/paper/afd5ts80fs25c",
  "venue": "arXiv",
  "versions": []
}