Optimal control of constrained piecewise affine discrete time systems using reverse transformation. - David Q. Mayne; Sasa V. Rakovic (CDC, 2002)

Approximation of the minimal robustly positively invariant set for discrete-time LTI systems with persistent state disturbances. - Sasa V. Rakovic; Eric C. Kerrigan; Konstantinos I. Kouramas; David Q. Mayne (CDC, 2003)

Reachability computations for constrained discrete-time systems with state-and input-dependent disturbances. - Sasa V. Rakovic; Eric C. Kerrigan; David Q. Mayne (CDC, 2003)

Optimal Control of Constrained Piecewise Affine Discrete-Time Systems. - David Q. Mayne; Sasa V. Rakovic (Comput. Optim. Appl., 2003)

Computation of invariant sets for piecewise affine discrete time systems subject to bounded disturbances. - Sasa V. Rakovic; Pascal Grieder; Michal Kvasnica; David Q. Mayne; Manfred Morari (CDC, 2004)

State estimation for piecewise affine, discrete time systems with bounded disturbances. - Sasa V. Rakovic; David Q. Mayne (CDC, 2004)

Robust model predictive control using tubes. - W. Langson; Ioannis Chryssochoos; Sasa V. Rakovic; David Q. Mayne (Autom., 2004)

On the Minimal Robust Positively Invariant Set for Linear Difference Inclusions. - Konstantinos I. Kouramas; Sasa V. Rakovic; Eric C. Kerrigan; John C. Allwright; David Q. Mayne (CDC/ECC, 2005)

Set Robust Control Invariance for Linear Discrete Time Systems. - Sasa V. Rakovic; David Q. Mayne (CDC/ECC, 2005)

Robust Time Optimal Obstacle Avoidance Problem for Constrained Discrete Time Systems. - Sasa V. Rakovic; David Q. Mayne (CDC/ECC, 2005)

Invariant Equilibria of Polytopic Games via Optimized Robust Control Invariance. - Sasa V. Rakovic; Elena De Santis; Paolo Caravani (CDC/ECC, 2005)

Robust model predictive control of constrained linear systems with bounded disturbances. - David Q. Mayne; María M. Seron; Sasa V. Rakovic (Autom., 2005)

Invariant approximations of the minimal robust positively Invariant set. - Sasa V. Rakovic; Eric C. Kerrigan; Konstantinos I. Kouramas; David Q. Mayne (IEEE Trans. Autom. Control., 2005)

Robust Output Feedback Model Predictive Control for Constrained Linear Systems under Uncertainty Based on Feed Forward and Positive Invariant Feedback Control. - David Q. Mayne; Sasa V. Rakovic; Rolf Findeisen; Frank Allgöwer (CDC, 2006)

State Decomposition Principle in Set Invariance Theory for Linear Discrete Time Systems. - Sasa V. Rakovic; Konstantinos I. Kouramas (CDC, 2006)

The Minimal Robust Positively Invariant Set for Linear Discrete Time Systems: Approximation Methods and Control Applications. - Sasa V. Rakovic; Konstantinos I. Kouramas (CDC, 2006)

Simple Robust Control Invariant Tubes for Some Classes of Nonlinear Discrete Time Systems. - Sasa V. Rakovic; Andrew R. Teel; David Q. Mayne; Alessandro Astolfi (CDC, 2006)

Utilizing Reachability Analysis in Point Location Problems. - Jørgen Spjøtvold; Sasa V. Rakovic; Petter Tøndel; Tor Arne Johansen (CDC, 2006)

A logarithmic-time solution to the point location problem for parametric linear programming. - Colin N. Jones; P. Grieder; Sasa V. Rakovic (Autom., 2006)

Robust output feedback model predictive control of constrained linear systems. - David Q. Mayne; Sasa V. Rakovic; Rolf Findeisen; Frank Allgöwer (Autom., 2006)

Characterization of the solution to a constrained Hinfinity optimal control problem. - David Q. Mayne; Sasa V. Rakovic; Richard B. Vinter; Eric C. Kerrigan (Autom., 2006)

Reachability analysis of discrete-time systems with disturbances. - Sasa V. Rakovic; Eric C. Kerrigan; David Q. Mayne; John Lygeros (IEEE Trans. Autom. Control., 2006)

Minkowski algebra and Banach Contraction Principle in set invariance for linear discrete time systems. - Sasa V. Rakovic (CDC, 2007)

Robust obstacle avoidance for constrained linear discrete time systems: A set-theoretic approach. - Sasa V. Rakovic; Franco Blanchini; Eva Crück; Manfred Morari (CDC, 2007)

Invariant approximations of the minimal robust positively invariant set via finite time Aumann Integrals. - Sasa V. Rakovic; Konstantinos I. Kouramas (CDC, 2007)

Optimized robust control invariance for linear discrete-time systems: Theoretical foundations. - Sasa V. Rakovic; Eric C. Kerrigan; David Q. Mayne; Konstantinos I. Kouramas (Autom., 2007)

Max-min control problems for constrained discrete time systems. - Sasa V. Rakovic; Miroslav Baric; Manfred Morari (CDC, 2008)

Feedback and invariance under uncertainty via set-iterates. - Zvi Artstein; Sasa V. Rakovic (Autom., 2008)

Control correction synthesis: A set-theoretic approach. - Michael P. Kearney; Sasa V. Rakovic; Peter Ross McAree (ECC, 2009)

Robust output feedback model predictive control of constrained linear systems: Time varying case. - David Q. Mayne; Sasa V. Rakovic; Rolf Findeisen; Frank Allgöwer (Autom., 2009)

Local Control Lyapunov Functions for Constrained Linear Discrete-Time Systems: The Minkowski Algebra Approach. - Sasa V. Rakovic; Miroslav Baric (IEEE Trans. Autom. Control., 2009)

Practical set invariance for decentralized discrete time systems. - Sasa V. Rakovic; Benjamin Kern; Rolf Findeisen (CDC, 2010)

Explicit use of probabilistic distributions in linear predictive control. - Basil Kouvaritakis; Mark Cannon; Sasa V. Rakovic; Qifeng Cheng (Autom., 2010)

Parameterized Robust Control Invariant Sets for Linear Systems: Theoretical Advances and Computational Remarks. - Sasa V. Rakovic; Miroslav Baric (IEEE Trans. Autom. Control., 2010)

Set invariance under output feedback: a set-dynamics approach. - Zvi Artstein; Sasa V. Rakovic (Int. J. Syst. Sci., 2011)

Robust Tubes in Nonlinear Model Predictive Control. - Mark Cannon; Johannes Buerger; Basil Kouvaritakis; Sasa V. Rakovic (IEEE Trans. Autom. Control., 2011)

Stochastic Tubes in Model Predictive Control With Probabilistic Constraints. - Mark Cannon; Basil Kouvaritakis; Sasa V. Rakovic; Qifeng Cheng (IEEE Trans. Autom. Control., 2011)

Construction of invariant families of sets for linear systems with delay. - Sasa V. Rakovic; Rob H. Gielen; Mircea Lazar (ACC, 2012)

Reachability analysis for linear discrete time set-dynamics driven by random convex compact sets. - Sasa V. Rakovic; Ion Matei; John S. Baras (CDC, 2012)

Offline tube design for efficient implementation of parameterized tube model predictive control. - Sasa V. Rakovic; Diego Muñoz-Carpintero; Mark Cannon; Basil Kouvaritakis (CDC, 2012)

Further Results on the Construction of Invariant Families of Sets for Linear Systems with Delay. - Rob H. Gielen; Sasa V. Rakovic; Mircea Lazar (TDS, 2012)

Stochastic tube MPC with state estimation. - Mark Cannon; Qifeng Cheng; Basil Kouvaritakis; Sasa V. Rakovic (Autom., 2012)

Homothetic tube model predictive control. - Sasa V. Rakovic; Basil Kouvaritakis; Rolf Findeisen; Mark Cannon (Autom., 2012)

Minkowski terminal cost functions for MPC. - Sasa V. Rakovic; Mircea Lazar (Autom., 2012)

Parameterized Tube Model Predictive Control. - Sasa V. Rakovic; Basil Kouvaritakis; Mark Cannon; Christos Panos; Rolf Findeisen (IEEE Trans. Autom. Control., 2012)

Motzkin's theorem of the alternative: a continuous-time generalization. - Vladimir Jankovic; Boban Marinkovic; Sasa V. Rakovic (Optim. Lett., 2013)

Equi-normalization and exact scaling dynamics in homothetic tube model predictive control. - Sasa V. Rakovic; Basil Kouvaritakis; Mark Cannon (Syst. Control. Lett., 2013)

Necessary and Sufficient Razumikhin-Type Conditions for Stability of Delay Difference Equations. - Rob H. Gielen; Mircea Lazar; Sasa V. Rakovic (IEEE Trans. Autom. Control., 2013)

The Minkowski-Lyapunov equation for linear dynamics: Theoretical foundations. - Sasa V. Rakovic; Mircea Lazar (Autom., 2014)

Positively Invariant Families of Sets for Interconnected and Time-Delay Discrete-Time Systems. - Sasa V. Rakovic; Rob H. Gielen (SIAM J. Control. Optim., 2014)

Robust Model-Predictive Control. - Sasa V. Rakovic (Encyclopedia of Systems and Control, 2015)

Discretely generalized model predictive control. - Sasa V. Rakovic; William S. Levine; Behçet Açikmese (ACC, 2016)

Elastic tube model predictive control. - Sasa V. Rakovic; William S. Levine; Behçet Açikmese (ACC, 2016)

Continuously generalized model predictive control. - Sasa V. Rakovic; William S. Levine; Behçet Açikmese (CDC, 2016)

Consistently improving approximations for constrained controllability and reachability. - Daniel Dueri; Sasa V. Rakovic; Behçet Açikmese (ECC, 2016)

The Minkowski-Lyapunov equation. - Sasa V. Rakovic (Autom., 2017)

Corrigendum to "The Minkowski-Lyapunov equation for linear dynamics: Theoretical foundations" [Automatica, 50(8) (2014) 2015-2024]. - Sasa V. Rakovic; Mircea Lazar (Autom., 2019)

Polarity of stability and robust positive invariance. - Sasa V. Rakovic (Autom., 2020)

Robust Minkowski-Lyapunov functions. - Sasa V. Rakovic (Autom., 2020)

Minkowski-Bellman inequality and equation. - Sasa V. Rakovic (Autom., 2021)

Robust control Minkowski-Lyapunov functions. - Sasa V. Rakovic (Autom., 2021)

Control Minkowski-Lyapunov functions. - Sasa V. Rakovic (Autom., 2021)

Convex MPC for exclusion constraints. - Sasa V. Rakovic; Sixing Zhang; Yanye Hao; Li Dai 001; Yuanqing Xia (Autom., 2021)

Safe polyhedral tubes for locally convexified MPC. - Sasa V. Rakovic; Sixing Zhang; Yanye Hao; Li Dai 001; Yuanqing Xia (Autom., 2021)

Piecewise Semi-Ellipsoidal Control Invariant Sets. - Benoît Legat; Sasa V. Rakovic; Raphaël M. Jungers (IEEE Control. Syst. Lett., 2021)

Minkowski-Lyapunov functions: Alternative characterization and implicit representation. - Sasa V. Rakovic (Autom., 2022)

The Robust Minkowski-Lyapunov Equation. - Sasa V. Rakovic (IEEE Trans. Autom. Control., 2022)

Model predictive control with implicit terminal ingredients. - Sasa V. Rakovic; Sixing Zhang (Autom., 2023)

Model Predictive Control for Linear Systems Under Relaxed Constraints. - Sasa V. Rakovic; Sixing Zhang; Haidi Sun; Yuanqing Xia (IEEE Trans. Autom. Control., 2023)

Homothetic Tube Model Predictive Control for Nonlinear Systems. - Sasa V. Rakovic; Li Dai 001; Yuanqing Xia (IEEE Trans. Autom. Control., 2023)

The Implicit Maximal Positively Invariant Set. - Sasa V. Rakovic; Sixing Zhang (IEEE Trans. Autom. Control., 2023)

The implicit rigid tube model predictive control. - Sasa V. Rakovic (Autom., 2023)

Polyhedral Robust Minkowski-Lyapunov Functions. - Sasa V. Rakovic; Sixing Zhang (IEEE Trans. Autom. Control., 2024)

Equi-Normalized Robust Positively Invariant Sets. - Sasa V. Rakovic; Sixing Zhang (IEEE Trans. Autom. Control., 2024)

Equi-normalized robust positively invariant sets for linear difference inclusions. - Sasa V. Rakovic; Paul A. Trodden (Autom., 2025)

Tube MPC With Time-Varying Cross-Sections. - Kai Wang; Sixing Zhang; Sébastien Gros; Sasa V. Rakovic (IEEE Trans. Autom. Control., 2025)