What is the main advantage and disadvantage of Dual-mode and Min-Max(LMI-Based) MPC? while you can synthesize robust mpc controllers by both of them.
Optimality, calculation time, number of optimization variables and so on, are the aspects of comparison.
You can consider the following papers for
dual-mode mpc: constrained model predictive control stability and optimality (automatica2000).pdf
and
for Min-max mpc: Kothare 1996