When i get my programming from RTS, they have me work up to the prescribed RPE and then the subsequent sets are either "Repeat" sets or "Load Drop" sets.
Repeat sets means you repeat the same weight and reps. In this case RPE usually goes up because of fatigue.
Load Drop sets, you drop about 5% like Shawn said, and it usually keeps the RPE about the same because you are dropping load to account for fatigue.