Novel qLPV MPCDesign with Least-Squares Scheduling Prediction⁎⁎This work has been supported by CNPq(305785/2015 — 0) and ITEA3European project (15016) EMPHYSIS.

The design of a Model Predictive Control (MPC)algorithm for quasiLinear Parameter Varying (qLPV)systems is developed herein. An online Least-Squares procedure that computes the future evolution of the qLPVscheduling parameters is at the core of the proposed method, which enables the replacement of a complex nonlinear optimization by a (much simpler) Quadratic Programming Problem (QP)one. The method also uses contractive terminal set constraints and a Lyapunov-associated terminal cost to the MPC QP,so that the domain of attraction of this controller is enlarged and feasibility is guaranteed. This paper ends with a successful simulation of this technique applied to the control of vehicular suspensions.