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              <p>Cet article propose l'élaboration d'une stratégie de commande prédictive robuste par retour de sortie pour des systèmes linéaires discrets soumis à des incertitudes, en considérant également des contraintes sur l'état et la commande. L'originalité de l'approche proposée provient de la combinaison d'une commande prédictive robuste à base de tubes d'incertitudes et d'un observateur développé à l'aide d'ensembles zonotopiques. L'observateur est construit en résolvant hors ligne un problème d'optimisation de type inégalité linéaire matricielle. L'erreur d'estimation est bornée par une séquence d'ensembles zonotopiques non croissants. Le correcteur est conçu en utilisant la commande prédictive basée sur des tubes aﬁn d'assurer la stabilité de la boucle fermée tout en respectant les contraintes sur l'état et la commande. Un exemple numérique illustre au ﬁnal la performance de l'approche proposée.</p>
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