Constrained robust model predictive control via parameter-dependent dynamic output feedback

A synthesis approach for output feedback robust model predictive control based-on input–output model

“…For a real process, the state is usually unmeasurable so that the output feedback control should be considered. With respect to the output feedback MPC based-on the state estimator, for a system with bounded disturbance without model parametric uncertainty, one can refer to [17,24,13], for that with model parametric uncertainty without disturbance, to [14], and for that with both model parametric uncertainty and bounded disturbance, to [5,9,8].…”

“…For the bounded disturbance, the future input and state constraints are often tightened, so that it is admissible to ignore the disturbance in the prediction model. In [10,5,8], the notion of quadratic boundedness (QB) from the context of estimation (see [1,2]) has been introduced so as to handle the bounded disturbance. This is a new procedure for MPC.…”

“…In this paper, an output feedback MPC is proposed for the input-output model with both model parametric uncertainty and bounded disturbance. Like [5,8], this paper uses the notion of QB to specify the closed-loop stability. Unlike [5,8], this paper does not require the state estimation.…”

“…Like [5,8], this paper uses the notion of QB to specify the closed-loop stability. Unlike [5,8], this paper does not require the state estimation. Some preliminary results have been given in [7], where the bounded disturbance is not considered and, hence, the technique of QB not utilized.…”

“…[5,8]), and can be seen as a generalization of the main robust MPC formulation in [15]. The ideas for the invariant ellipsoid for constraint handling, the min-max optimization, and the LMI techniques, are existing in the literature.…”