This paper investigates the robust tracking and regulation control problems for discrete-time,
piecewise affine systems subject to bounded disturbances. In particular, the main question
addressed is related to the existence of a controller such that the closed-loop system
exhibits an attainable desired behavior under all possible disturbances. Checking
attainability and calculating the state space regions for which a robust control is assured
despite the disturbance is performed using a polyhedral approach. A model predictive …