Brief paper: Robust output feedback model predictive control of constrained linear systems: Time varying case

Authors:
D. Q. Mayne;S. V. Raković;R. Findeisen;F. Allgöwer
Affiliations:
Department of Electrical and Electronic Engineering, Imperial College London, UK;Centre for Process Systems Engineering, Imperial College London, UK and Otto-von-Guericke-Universität, Institute for Automative Engineering, Magdeburg, Germany;Otto-von-Guericke-Universität, Institute for Automative Engineering, Magdeburg, Germany;Institute for Systems Theory and Automatic Control, University of Stuttgart, Stuttgart, Germany
Venue:
Automatica (Journal of IFAC)
Year:
2009

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Abstract

The problem of output feedback model predictive control of discrete time systems in the presence of additive but bounded state and output disturbances is considered. The overall controller consists of two components, a stable state estimator and a tube based, robustly stabilizing model predictive controller. Earlier results are extended by allowing the estimator to be time varying. The proposed robust output feedback controller requires the online solution of a standard quadratic program. The closed loop system renders a specified invariant set robustly exponentially stable.