  This paper is about a parallel algorithm for tube-based model predictive
control. The proposed control algorithm solves robust model predictive control
problems suboptimally, while exploiting their structure. This is achieved by
implementing a real-time algorithm that iterates between the evaluation of
piecewise affine functions, corresponding to the parametric solution of
small-scale robust MPC problems, and the online solution of structured equality
constrained QPs. The performance of the associated real-time robust MPC
controllers is illustrated by a numerical case study.
