Robust output feedback model predictive control of constrained linear systems

  • Authors:

  • D. Q. Mayne;S. V. Raković;R. Findeisen;F. AllgöWer

  • Affiliations:

  • Department of Electrical and Electronic Engineering, Imperial College London;Department of Electrical and Electronic Engineering, Imperial College London;Institute for Systems Theory and Automatic Control (IST), University of Stuttgart, Germany;Institute for Systems Theory and Automatic Control (IST), University of Stuttgart, Germany

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2006

Quantified Score

Hi-index 22.16

Visualization

Abstract

This paper provides a solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of bounded state and output disturbances. The proposed output feedback controller consists of a simple, stable Luenberger state estimator and a recently developed, robustly stabilizing, tube-based, model predictive controller. The state estimation error is bounded by an invariant set. The tube-based controller ensures that all possible realizations of the state trajectory lie in a simple uncertainty tube the 'center' of which is the solution of a nominal (disturbance-free) system and the 'cross-section' of which is also invariant. Satisfaction of the state and input constraints for the original system is guaranteed by employing tighter constraint sets for the nominal system. The complexity of the resultant controller is similar to that required for nominal model predictive control.