The simulation file requires MATLAB optimization toolbox for MPC computation and MPT3 toolbox for set operations. Theoretical background can be found at: For Tube MPC: Mayne, David Q., María M. Seron, and S. V. Raković. "Robust model predictive control of constrained linear systems with bounded disturbances." Automatica 41.2 (2005): 219-224.

For Outer approximation of Robust Positively Invariant set: Rakovic, Sasa V., et al. "Invariant approximations of the minimal robust positively invariant set." IEEE Transactions on automatic control 50.3 (2005): 406-410.

Some code parts are adopted from other repositories.

If you find the simulation useful, please cite the above papers.