  Real-time measurements of the scheduling parameter of linear
parameter-varying (LPV) systems enables the synthesis of robust control
invariant (RCI) sets and parameter dependent controllers inducing invariance.
We present a method to synthesize parameter-dependent robust control invariant
(PD-RCI) sets for LPV systems with bounded parameter variation, in which
invariance is induced using PD-vertex control laws. The PD-RCI sets are
parameterized as configuration-constrained polytopes that admit a joint
parameterization of their facets and vertices. The proposed sets and associated
control laws are computed by solving a single semidefinite programing (SDP)
problem. Through numerical examples, we demonstrate that the proposed method
outperforms state-of-the-art methods for synthesizing PD-RCI sets, both with
respect to conservativeness and computational load.
