Brief Output feedback and tracking of nonlinear systems with model predictive control

Authors:
L. Magni;G. De Nicolao;R. Scattolini
Affiliations:
Dipartimento di Informatica e Sistemistica, Universití di Pavia, via Ferrata 1, 27100 Pavia, Italy;Dipartimento di Informatica e Sistemistica, Universití di Pavia, via Ferrata 1, 27100 Pavia, Italy;Dipartimento di Informatica e Sistemistica, Universití di Pavia, via Ferrata 1, 27100 Pavia, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2001

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Abstract

This paper presents an output feedback Receding Horizon (RH) control algorithm for nonlinear discrete-time systems which solves the problem of tracking exogenous signals and asymptotically rejecting disturbances generated by a properly defined exosystem. The regulator is composed by an internal model of the exosystem and a stabilizing RH regulator. Some robustness results are also achieved in the case of constant references.