J. Abedor, K. Nagpal, and K. Poolla, A linear matrix inequality approach to peak-to-peak gain minimization, International Journal of Robust and Nonlinear Control, vol.6, pp.9-10, 1996.

J. Ackermann, A. Bartlett, D. Kaesbauer, W. Sienel, and R. Steinhauser, Robust control: Systems with uncertain physical parameters, 2001.

M. Alamir, Stabilization of nonlinear system by receding horizon control scheme: A parametrized approach for fast systems, 2006.
URL : https://hal.archives-ouvertes.fr/hal-00098648

M. Alamir, A framework for real-time implementation of low-dimensional parameterized NMPC, Automatica, vol.48, issue.1, 2011.
DOI : 10.1016/j.automatica.2011.09.046

URL : https://hal.archives-ouvertes.fr/hal-00605472

M. Alamir and G. Bornard, Stability of a truncated infinite constrained receding horizon scheme: the general discrete nonlinear case, Automatica, vol.31, issue.9, pp.1353-1356, 1995.
DOI : 10.1016/0005-1098(95)00042-U

T. Alamo, A. Cepeda, and D. Limon, Improved computation of ellipsoidal invariant sets for saturated control systems, Proceedings of the 44th IEEE Conference on Decision and Control, pp.6216-6221, 2005.
DOI : 10.1109/CDC.2005.1583157

T. Alamo, A. Cepeda, D. Limon, and E. Camacho, Estimation of the domain of attraction for saturated discrete-time systems, International Journal of Systems Science, vol.30, issue.8, pp.575-583, 2006.
DOI : 10.1016/S0167-6911(01)00168-2

B. Anderson and J. Moore, Optimal control: linear quadratic methods, NJ, vol.1, 1990.

?. Aström, K. Murray, and R. , Feedback systems: an introduction for scientists and engineers, 2008.

J. Aubin, A. Bayen, and P. Saint-pierre, Viability Theory: New Directions, 2011.
URL : https://hal.archives-ouvertes.fr/inria-00636570

M. Bacic, M. Cannon, Y. Lee, and B. Kouvaritakis, General interpolation in mpc and its advantages . Automatic Control, IEEE Transactions on, vol.48, issue.6, pp.1092-1096, 2003.

E. Balas, Projection with a minimal system of inequalities, Computational Optimization and Applications, vol.10, issue.2, pp.189-193, 1998.
DOI : 10.1023/A:1018368920203

R. Bellman, On the Theory of Dynamic Programming, Proceedings of the National Academy of Sciences, vol.38, issue.8, p.716, 1952.
DOI : 10.1073/pnas.38.8.716

R. Bellman, The theory of dynamic programming, Bulletin of the American Mathematical Society, vol.60, issue.6, pp.503-515, 1954.
DOI : 10.1090/S0002-9904-1954-09848-8

R. Bellman, DYNAMIC PROGRAMMING AND LAGRANGE MULTIPLIERS, Proceedings of the National Academy of Sciences, vol.42, issue.10, p.767, 1956.
DOI : 10.1073/pnas.42.10.767

URL : http://www.ncbi.nlm.nih.gov/pmc/articles/PMC528332

R. Bellman, Dynamic Programming, Science, vol.153, issue.3731, p.34, 1966.
DOI : 10.1126/science.153.3731.34

R. Bellman and S. Dreyfus, Applied dynamic programming, 1962.
DOI : 10.1515/9781400874651

A. Bemporad, F. Borrelli, and M. Morari, Model predictive control based on linear programming?theming?the explicit solution. Automatic Control, IEEE Transactions on, vol.47, issue.12, pp.1974-1985, 2002.

A. Bemporad and C. Filippi, Suboptimal Explicit Receding Horizon Control via Approximate Multiparametric Quadratic Programming, Journal of Optimization Theory and Applications, vol.5, issue.1, pp.9-38, 2003.
DOI : 10.1023/A:1023696221899

A. Bemporad, M. Morari, V. Dua, and E. Pistikopoulos, The explicit linear quadratic regulator for constrained systems, Automatica, vol.38, issue.1, pp.3-20, 2002.
DOI : 10.1016/S0005-1098(01)00174-1

G. Bitsoris, Positively invariant polyhedral sets of discrete-time linear systems, International Journal of Control, vol.82, issue.6, pp.1713-1726, 1988.
DOI : 10.1080/00207178808906132

F. Blanchini, Nonquadratic Lyapunov functions for robust control, Automatica, vol.31, issue.3, pp.451-461, 1995.
DOI : 10.1016/0005-1098(94)00133-4

F. Blanchini, Set invariance in control, Automatica, vol.35, issue.11, pp.1747-1767, 1999.
DOI : 10.1016/S0005-1098(99)00113-2

F. Blanchini and S. Miani, On the transient estimate for linear systems with time-varying uncertain parameters. Circuits and Systems I: Fundamental Theory and Applications, IEEE Transactions on, vol.43, issue.7, pp.592-596, 1996.

F. Blanchini and S. Miani, CONSTRAINED STABILIZATION VIA SMOOTH LYAPUNOV FUNCTIONS, Theory and Practice of Control and Systems, pp.155-163, 1998.
DOI : 10.1142/9789814447317_0047

F. Blanchini and S. Miani, Stabilization of LPV Systems: State Feedback, State Estimation, and Duality, Control, 2003. Proceedings. 42nd IEEE Conference on, pp.1492-1497, 2003.
DOI : 10.1137/S0363012900372283

F. Blanchini and S. Miani, Set-theoretic methods in control, 2008.
DOI : 10.1007/978-3-319-17933-9

F. Borrelli, Constrained optimal control of linear and hybrid systems, 2003.

S. Boyd and L. Vandenberghe, Convex optimization, Cambridge Univ Pr, 2004.

E. Bronstein, Approximation of convex sets by polytopes, Journal of Mathematical Sciences, vol.31, issue.5, pp.727-762, 2008.
DOI : 10.1007/s10958-008-9144-x

E. Camacho and C. Bordons, Model predictive control, 2004.
URL : https://hal.archives-ouvertes.fr/hal-00683813

D. Clarke, C. Mohtadi, and P. Tuffs, Generalized predictive control???Part I. The basic algorithm, Automatica, vol.23, issue.2, pp.137-148, 1987.
DOI : 10.1016/0005-1098(87)90087-2

F. Clarke, Optimization and nonsmooth analysis, Society for Industrial Mathematics, vol.5, 1990.
DOI : 10.1137/1.9781611971309

M. Cwikel and P. Gutman, Convergence of an algorithm to find maximal state constraint sets for discrete-time linear dynamical systems with bounded controls and states. Automatic Control, IEEE Transactions on, vol.31, issue.5, pp.457-459, 1986.

J. Daafouz and J. Bernussou, Parameter dependent Lyapunov functions for discrete time systems with time varying parametric uncertainties, Systems & Control Letters, vol.43, issue.5, pp.355-359, 2001.
DOI : 10.1016/S0167-6911(01)00118-9

G. Dantzig, Fourier-Motzkin elimination and its dual, Journal of Combinatorial Theory, Series A, vol.14, issue.3, 1972.
DOI : 10.1016/0097-3165(73)90004-6

S. Dreyfus, Some Types of Optimal Control of Stochastic Systems, Journal of the Society for Industrial and Applied Mathematics Series A Control, vol.2, issue.1, 1963.
DOI : 10.1137/0302010

M. Earl and R. D-'andrea, Modeling and control of a multi-agent system using mixed integer linear programming, Proceedings of the 41st IEEE Conference on Decision and Control, 2002., pp.107-111, 2002.
DOI : 10.1109/CDC.2002.1184476

Z. Fang, W. Song, J. Zhang, and H. Wu, Experiment and modeling of exit-selecting behaviors during a building evacuation, Physica A: Statistical Mechanics and its Applications, pp.815-824, 2010.
DOI : 10.1016/j.physa.2009.10.019

K. Fukuda, cdd/cdd+ reference manual. Institute for operations Research ETH-Zentrum, 1997.

K. Fukuda, Frequently asked questions in polyhedral computation, Report, 2000.

P. Gahinet, A. Nemirovskii, A. Laub, and M. Chilali, The LMI control toolbox, Proceedings of 1994 33rd IEEE Conference on Decision and Control, pp.2038-2041, 1994.
DOI : 10.1109/CDC.1994.411440

T. Geyer, F. Torrisi, and M. Morari, Optimal complexity reduction of piecewise affine models based on hyperplane arrangements, American Control Conference Proceedings of the 2004, pp.1190-1195, 2004.

E. Gilbert and K. Tan, Linear systems with state and control constraints: the theory and application of maximal output admissible sets, IEEE Transactions on Automatic Control, vol.36, issue.9, pp.1008-1020, 1991.
DOI : 10.1109/9.83532

G. Goodwin, M. Seron, and J. De-dona, Constrained control and estimation: an optimisation approach, 2005.
DOI : 10.1007/b138145

A. Grancharova and T. Johansen, Explicit Nonlinear Model Predictive Control, Theory and Applications, vol.429, 2012.
DOI : 10.1007/978-3-642-28780-0

M. Grant and S. Boyd, Cvx: Matlab software for disciplined convex programming, 2008.
DOI : 10.1007/0-387-30528-9_7

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.118.8900

P. Grieder and M. Morari, Complexity reduction of receding horizon control, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), pp.3179-3190, 2003.
DOI : 10.1109/CDC.2003.1273112

G. Grimm, J. Hatfield, I. Postlethwaite, A. Teel, M. Turner et al., Antiwindup for stable linear systems with input saturation: an lmi-based synthesis. Automatic Control, IEEE Transactions on, vol.48, issue.9, pp.1509-1525, 2003.

P. Gutman, A linear programming regulator applied to hydroelectric reservoir level control, Automatica, vol.22, issue.5, pp.533-541, 1986.
DOI : 10.1016/0005-1098(86)90063-4

P. Gutman and M. Cwikel, Admissible sets and feedback control for discrete-time linear dynamical systems with bounded controls and states. Automatic Control, IEEE Transactions on, vol.31, issue.4, pp.373-376, 1986.
DOI : 10.1109/cdc.1984.272428

P. Gutman and M. Cwikel, An algorithm to find maximal state constraint sets for discrete-time linear dynamical systems with bounded controls and states, IEEE Transactions on Automatic Control, vol.32, issue.3, pp.251-254, 1987.
DOI : 10.1109/TAC.1987.1104567

P. Gutman and P. Hagander, A new design of constrained controllers for linear systems, IEEE Transactions on Automatic Control, vol.30, issue.1, pp.22-33, 1985.
DOI : 10.1109/TAC.1985.1103785

T. Hu and Z. Lin, Control systems with actuator saturation: analysis and design, Birkhauser, 2001.
DOI : 10.1007/978-1-4612-0205-9

T. Hu and Z. Lin, Composite quadratic lyapunov functions for constrained control systems, Automatic Control IEEE Transactions on, vol.48, issue.3, pp.440-450, 2003.

T. Hu, Z. Lin, and B. Chen, Analysis and design for discrete-time linear systems subject to actuator saturation, Systems & Control Letters, vol.45, issue.2, pp.97-112, 2002.
DOI : 10.1016/S0167-6911(01)00168-2

T. Hu, Z. Lin, and B. Chen, An analysis and design method for linear systems subject to actuator saturation and disturbance, Automatica, vol.38, issue.2, pp.351-359, 2002.
DOI : 10.1016/S0005-1098(01)00209-6

Z. Jiang and Y. Wang, Input-to-state stability for discrete-time nonlinear systems, Automatica, vol.37, issue.6, pp.857-869, 2001.
DOI : 10.1016/S0005-1098(01)00028-0

T. Johansen and A. Grancharova, Approximate explicit constrained linear model predictive control via orthogonal search tree, IEEE Transactions on Automatic Control, vol.48, issue.5, pp.810-815, 2003.
DOI : 10.1109/TAC.2003.811259

C. Jones, E. Kerrigan, J. Maciejowski, and . Of-cambridge, Engineering Dept, U.: Equality set projection: A new algorithm for the projection of polytopes in halfspace representation, 2004.

C. Jones and M. Morari, The double description method for the approximation of explicit MPC control laws, 2008 47th IEEE Conference on Decision and Control, pp.4724-4730, 2008.
DOI : 10.1109/CDC.2008.4738794

C. Jones and M. Morari, Approximate explicit mpc using bilevel optimization, 2009.

C. Jones and M. Morari, Polytopic approximation of explicit model predictive controllers. Automatic Control, IEEE Transactions on, vol.55, issue.11, pp.2542-2553, 2010.

U. Jönsson, A lecture on the s-procedure. Lecture Note at the Royal Institute of technology, 2001.

R. Kalman, Contributions to the theory of optimal control, Bol. Soc. Mat. Mexicana, vol.5, issue.2, pp.102-119, 1960.

S. Keerthi and K. Sridharan, Solution of parametrized linear inequalities by Fourier elimination and its applications, Journal of Optimization Theory and Applications, vol.93, issue.1, pp.161-169, 1990.
DOI : 10.1007/BF00941167

E. Kerrigan, Robust constraint satisfaction: Invariant sets and predictive control, 2000.

E. Kerrigan, Invariant set toolbox for matlab, 2003.

I. Kevrekidis, R. Aris, and L. Schmidt, The stirred tank forced, Chemical Engineering Science, vol.41, issue.6, pp.1549-1560, 1986.
DOI : 10.1016/0009-2509(86)85237-X

H. Khalil and J. Grizzle, Nonlinear systems, 1992.

M. Khlebnikov, B. Polyak, and V. Kuntsevich, Optimization of linear systems subject to bounded exogenous disturbances: The invariant ellipsoid technique, Automation and Remote Control, vol.72, issue.11, pp.2227-2275, 2011.
DOI : 10.1134/S0005117911110026

M. Kojima, S. Mizuno, and A. Yoshise, A Primal-Dual Interior Point Algorithm for Linear Programming, 1988.
DOI : 10.1007/978-1-4613-9617-8_2

I. Kolmanovsky and E. Gilbert, Theory and computation of disturbance invariant sets for discrete-time linear systems, Mathematical Problems in Engineering, vol.4, issue.4, pp.317-367, 1998.
DOI : 10.1155/S1024123X98000866

A. Kolmogorov and S. Fomin, Elements of the theory of functions and functional analysis, 1999.

M. Kothare, V. Balakrishnan, and M. Morari, Robust constrained model predictive control using linear matrix inequalities, Automatica, vol.32, issue.10, pp.1361-1379, 1996.
DOI : 10.1016/0005-1098(96)00063-5

M. Kothare, P. Campo, M. Morari, and C. Nett, A unified framework for the study of anti-windup designs, Automatica, vol.30, issue.12, pp.1869-1883, 1994.
DOI : 10.1016/0005-1098(94)90048-5

A. Kurzhanskiy and P. Varaiya, Ellipsoidal Toolbox (ET), Proceedings of the 45th IEEE Conference on Decision and Control, pp.1498-1503, 2006.
DOI : 10.1109/CDC.2006.377036

M. Kvasnica and M. Fikar, Clipping-Based Complexity Reduction in Explicit MPC, IEEE Transactions on Automatic Control, vol.57, issue.7, pp.1-1, 2011.
DOI : 10.1109/TAC.2011.2179428

M. Kvasnica, P. Grieder, M. Baoti´cbaoti´c, and M. Morari, Multi-parametric toolbox (mpt) Hybrid Systems: Computation and Control pp, pp.121-124, 2004.
DOI : 10.1007/978-3-540-24743-2_30

M. Kvasnica, J. Löfberg, and M. Fikar, Stabilizing polynomial approximation of explicit MPC, Automatica, vol.47, issue.10, 2011.
DOI : 10.1016/j.automatica.2011.08.023

M. Kvasnica, J. Lo-?-fberg, M. Herceg, L. Cirka, and M. Fikar, Low-complexity polynomial approximation of explicit MPC via linear programming, Proceedings of the 2010 American Control Conference, pp.4713-4718, 2010.
DOI : 10.1109/ACC.2010.5531092

M. Kvasnica, I. Rauová, and M. Fikar, Simplification of Explicit MPC Feedback Laws via Separation Functions, IFAC World Congress, 2011.
DOI : 10.3182/20110828-6-IT-1002.01444

H. Kwakernaak and R. Sivan, Linear Optimal Control Systems, Journal of Dynamic Systems, Measurement, and Control, vol.96, issue.3, 1972.
DOI : 10.1115/1.3426828

W. Langson, I. Chryssochoos, S. Rakovi´crakovi´c, and D. Mayne, Robust model predictive control using tubes, Automatica, vol.40, issue.1, pp.125-133, 2004.
DOI : 10.1016/j.automatica.2003.08.009

M. Lazar, D. Munoz-de-la-pena, W. Heemels, and T. Alamo, On input-to-state stability of min???max nonlinear model predictive control, Systems & Control Letters, vol.57, issue.1, pp.39-48, 2008.
DOI : 10.1016/j.sysconle.2007.06.013

E. Lee, Foundations of optimal control theory, Tech. rep., DTIC Document, 1967.

F. Lewis and V. Syrmos, Optimal control, 1995.

D. Liberzon, Switching in systems and control, 2003.
DOI : 10.1007/978-1-4612-0017-8

L. Ljung, System identification, 1999.
URL : https://hal.archives-ouvertes.fr/hal-00854858

V. Loechner and D. Wilde, Parameterized polyhedra and their vertices, International Journal of Parallel Programming, vol.25, issue.6, pp.525-549, 1997.
DOI : 10.1023/A:1025117523902

URL : https://hal.archives-ouvertes.fr/inria-00534851

J. Lofberg, YALMIP : a toolbox for modeling and optimization in MATLAB, 2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508), pp.284-289, 2004.
DOI : 10.1109/CACSD.2004.1393890

D. Luenberger, Optimization by vector space methods, 1997.

J. Maciejowski, Predictive control, 2002.
DOI : 10.1007/BFb0113856

J. Macki and A. Strauss, Introduction to optimal control theory, 1982.
DOI : 10.1007/978-1-4612-5671-7

T. Marlin, Process Control, 1995.
DOI : 10.1201/9781420039870.ch174

D. Marruedo, T. Alamo, and E. Camacho, Input-to-state stable MPC for constrained discrete-time nonlinear systems with bounded additive uncertainties, Proceedings of the 41st IEEE Conference on Decision and Control, 2002., pp.4619-4624, 2002.
DOI : 10.1109/CDC.2002.1185106

D. Mayne, J. Rawlings, C. Rao, and P. Scokaert, Constrained model predictive control: Stability and optimality, Automatica, vol.36, issue.6, pp.789-814, 2000.
DOI : 10.1016/S0005-1098(99)00214-9

T. Motzkin, H. Raiffa, G. Thompson, and R. Thrall, 3. The Double Description Method, 1953.
DOI : 10.1515/9781400881970-004

N. Nam, S. Olaru, and M. Hovd, Patchy approximate explicit model predictive control, Control Automation and Systems (ICCAS), 2010 International Conference on, pp.1287-1292, 2010.

S. Nazin, B. Polyak, and M. Topunov, Rejection of bounded exogenous disturbances by the method of invariant ellipsoids, Automation and Remote Control, vol.68, issue.3, pp.467-486, 2007.
DOI : 10.1134/S0005117907030083

Y. Nesterov and A. Nemirovsky, Interior point polynomial methods in convex programming, 1994.

H. Nguyen, P. Gutman, S. Olaru, and M. Hovd, Explicit constraint control based on interpolation techniques for time-varying and uncertain linear discrete-time systems, IFAC Proceedings Volumes, vol.44, issue.1, pp.5741-5746, 2011.
DOI : 10.3182/20110828-6-IT-1002.03517

URL : https://hal.archives-ouvertes.fr/hal-00592340

H. Nguyen, P. Gutman, S. Olaru, and M. Hovd, An interpolation approach for robust constrained output feedback, IEEE Conference on Decision and Control and European Control Conference, 2011.
DOI : 10.1109/CDC.2011.6161136

URL : https://hal.archives-ouvertes.fr/hal-00657884

H. Nguyen, P. Gutman, S. Olaru, M. Hovd, and F. Colledani, Improved vertex control for time-varying and uncertain linear discrete-time systems with control and state constraints, ACC) IEEE, pp.4386-4391, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00592337

H. Nguyen, S. Olaru, P. Gutman, and M. Hovd, Robust Output Feedback Interpolation Based Control for Constrained Linear Systems, Informatics in Control, pp.21-36
DOI : 10.1007/978-3-642-31353-0_2

H. Nguyen, S. Olaru, P. Gutman, and M. Hovd, Constrained interpolation-based control for polytopic uncertain systems, IEEE Conference on Decision and Control and European Control Conference, 2011.
DOI : 10.1109/CDC.2011.6161524

URL : https://hal.archives-ouvertes.fr/hal-00657876

H. Nguyen, S. Olaru, P. Gutman, and M. Hovd, Improved vertex control for a ball and plate system, IFAC Proceedings Volumes, vol.45, issue.13, 2012.
DOI : 10.3182/20120620-3-DK-2025.00151

URL : https://hal.archives-ouvertes.fr/hal-00751253

H. Nguyen, S. Olaru, P. Gutman, and M. Hovd, Interpolation based control for constrained linear time-varying or uncertain systems in the presence of disturbances, IFAC Proceedings Volumes, vol.45, issue.17, 2012.
DOI : 10.3182/20120823-5-NL-3013.00012

H. Nguyen, S. Olaru, and M. Hovd, A patchy approximation of explicit model predictive control, International Journal of Control, vol.20, issue.12, 2012.
DOI : 10.1007/978-1-4613-8431-1

URL : https://hal.archives-ouvertes.fr/hal-00751235

N. Nguyen and S. Olaru, Hybrid modeling and optimal control of juggling systems, International Journal of systems Science, p.600514, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00528757

N. Nguyen, S. Olaru, and F. Stoican, On maximal robustly positively invariant sets, Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics (ICINCO), p. 6 pages, 2011.
URL : https://hal.archives-ouvertes.fr/hal-00593078

S. Olaru, J. De-doná, M. Seron, and F. Stoican, Positive invariant sets for fault tolerant multisensor control schemes, International Journal of Control, vol.40, issue.12, pp.2622-2640, 2010.
DOI : 10.1016/j.automatica.2004.01.014

URL : https://hal.archives-ouvertes.fr/hal-00293927

S. Olaru and D. Dumur, A parameterized polyhedra approach for explicit constrained predictive control, 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), pp.1580-1585, 2004.
DOI : 10.1109/CDC.2004.1430269

S. Olaru and D. Dumur, On the continuity and complexity of control laws based on multiparametric linear programs, Proceedings of the 45th IEEE Conference on Decision and Control, pp.5465-5470, 2006.
DOI : 10.1109/CDC.2006.377330

URL : https://hal.archives-ouvertes.fr/hal-00261371

M. Pérez and P. Albertos, Self-oscillating and chaotic behaviour of a PI-controlled CSTR with control valve saturation, Journal of Process Control, vol.14, issue.1, pp.51-59, 2004.
DOI : 10.1016/S0959-1524(03)00032-5

M. Pérez, R. Font, and M. Montava, Regular self-oscillating and chaotic dynamics of a continuous stirred tank reactor, Computers & Chemical Engineering, vol.26, issue.6, pp.889-901, 2002.
DOI : 10.1016/S0098-1354(02)00015-7

E. Pistikopoulos, M. Georgiadis, and V. Dua, Multi-parametric model-based control: theory and applications, 2007.
DOI : 10.1002/9783527631230

E. Pistikopoulos, M. Georgiadis, and V. Dua, Multi-parametric programming: theory, algorithms , and applications, 2007.
DOI : 10.1002/9783527631216

B. Pluymers, J. Rossiter, J. Suykens, and B. De-moor, Interpolation Based MPC for LPV Systems using Polyhedral Invariant Sets, Proceedings of the 2005, American Control Conference, 2005., pp.810-815, 2005.
DOI : 10.1109/ACC.2005.1470059

B. Polyak, Convexity of Quadratic Transformations and Its Use in Control and Optimization, Journal of Optimization Theory and Applications, vol.6, issue.3, pp.553-583, 1998.
DOI : 10.1023/A:1021798932766

L. Pontryagin and R. Gamkrelidze, The mathematical theory of optimal processes, CRC, vol.4, 1986.

A. Propoi, Use of linear programming methods for synthesizing sampled-data automatic systems, Automation and Remote Control, vol.24, issue.7, pp.837-844, 1963.

S. Rakovic, E. Kerrigan, K. Kouramas, and D. Mayne, Invariant approximations of the minimal robust positively invariant set. Automatic Control, IEEE Transactions on, vol.50, issue.3, pp.406-410, 2005.

R. Rockafellar, Convex analysis, 1997.
DOI : 10.1515/9781400873173

J. Rossiter, Model-based predictive control: a practical approach, CRC, 2003.

J. Rossiter and Y. Ding, Interpolation methods in model predictive control: an overview, International Journal of Control, vol.83, issue.2, pp.297-312, 2010.
DOI : 10.1016/S0959-1524(03)00028-3

J. Rossiter and P. Grieder, Using interpolation to improve efficiency of multiparametric predictive control, Automatica, vol.41, issue.4, pp.637-643, 2005.
DOI : 10.1016/j.automatica.2004.08.021

J. Rossiter, B. Kouvaritakis, and M. Bacic, Interpolation based computationally efficient predictive control, International Journal of Control, vol.6, issue.3, pp.290-301, 2004.
DOI : 10.1109/9.704994

J. Rossiter, B. Kouvaritakis, and M. Cannon, Computationally efficient algorithms for constraint handling with guaranteed stability and near optimality, International Journal of Control, vol.6, issue.17, pp.1678-1689, 2001.
DOI : 10.1016/0005-1098(94)90118-X

A. Rubinov and E. Sharikov, Star-shaped separability with applications, Journal of Convex Analysis, vol.13, issue.3, p.849, 2006.

A. Rubinov and A. Yagubov, The space of star-shaped sets and its applications in nonsmooth optimization. Quasidifferential Calculus pp, pp.176-202, 1986.

L. Russo and B. Bequette, Effect of process design on the open-loop behavior of a jacketed exothermic CSTR, Computers & Chemical Engineering, vol.20, issue.4, pp.417-426, 1996.
DOI : 10.1016/0098-1354(95)00031-3

C. Scherer and S. Weiland, Linear matrix inequalities in control. Lecture Notes, Dutch Institute for Systems and Control, 2000.

W. Schmitendorf and B. Barmish, Null Controllability of Linear Systems with Constrained Controls, SIAM Journal on Control and Optimization, vol.18, issue.4, p.327, 1980.
DOI : 10.1137/0318025

J. Schneider, Pathway toward a mid-infrared interferometer for the direct characterization of exoplanets. Arxiv preprint arXiv:0906, p.68, 2009.

F. Scibilia, S. Olaru, and M. Hovd, Approximate explicit linear mpc via delaunay tessellation, 2009.
URL : https://hal.archives-ouvertes.fr/hal-00418337

M. Seron, G. Goodwin, and J. Doná, Characterisation Of Receding Horizon Control For Constrained Linear Systems, Asian Journal of Control, vol.6, issue.6, pp.271-286, 2003.
DOI : 10.1111/j.1934-6093.2003.tb00118.x

S. Skogestad and I. Postlethwaite, Multivariable feedback control: analysis and design, 2007.

C. Smith and A. Corripio, Principles and practice of automatic process control, 1985.

E. Sontag, An algebraic approach to bounded controllability of linear systems???, International Journal of Control, vol.51, issue.1, pp.181-188, 1984.
DOI : 10.1080/00207178408933158

E. Sontag and Y. Wang, On characterizations of the input-to-state stability property, Systems & Control Letters, vol.24, issue.5, pp.351-359, 1995.
DOI : 10.1016/0167-6911(94)00050-6

F. Stoican, ´. Ecole-supérieuresup´supérieure-d-´, and . Electricitéelectricit´electricité, Fault tolerant control based on set-theoretic methods, 2011.
URL : https://hal.archives-ouvertes.fr/tel-00633622

J. Sturm, Using sedumi 1.02, a matlab toolbox for optimization over symmetric cones. Optimization methods and software, pp.625-653, 1999.

S. Sundar and Z. Shiller, Optimal obstacle avoidance based on the hamilton-jacobi-bellman equation. Robotics and Automation, IEEE Transactions on, vol.13, issue.2, pp.305-310, 1997.

S. Tarbouriech, G. Garcia, and A. Glattfelder, Advanced strategies in control systems with input and output constraints, 2007.
DOI : 10.1007/978-3-540-37010-9

S. Tarbouriech, G. Garcia, J. Da-silva, and I. Queinnec, Stability and stabilization of linear systems with saturating actuators, 2011.
DOI : 10.1007/978-0-85729-941-3

S. Tarbouriech and M. Turner, Anti-windup design: an overview of some recent advances and open problems, IET Control Theory & Applications, vol.3, issue.1, pp.1-19, 2009.
DOI : 10.1049/iet-cta:20070435

C. Taylor, A. Chotai, and P. Young, State space control system design based on non-minimal state-variable feedback: Further generalization and unification results, International Journal of Control, vol.73, issue.14, pp.1329-1345, 2000.
DOI : 10.1080/002071700421727

P. Tøndel, T. Johansen, and A. Bemporad, An algorithm for multi-parametric quadratic programming and explicit MPC solutions, Automatica, vol.39, issue.3, pp.489-497, 2003.
DOI : 10.1016/S0005-1098(02)00250-9

S. Veres, Geometric bounding toolbox (gbt) for matlab. Official website, 2003.

Z. Wan and M. Kothare, An efficient off-line formulation of robust model predictive control using linear matrix inequalities, Automatica, vol.39, issue.5, pp.837-846, 2003.
DOI : 10.1016/S0005-1098(02)00174-7

Y. Wang and S. Boyd, Fast Model Predictive Control Using Online Optimization, IEEE Transactions on Control Systems Technology, vol.18, issue.2, pp.267-278, 2010.
DOI : 10.1109/TCST.2009.2017934

URL : http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.110.8870

L. Zaccarian and A. Teel, A common framework for anti-windup, bumpless transfer and reliable designs, Automatica, vol.38, issue.10, pp.1735-1744, 2002.
DOI : 10.1016/S0005-1098(02)00072-9