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Robust Output Feedback Model Predictive Control for Constrained Linear Systems under Uncertainty Based on Feed Forward and Positive Invariant Feedback Control

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4 Author(s)

This paper provides a novel solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of additive but bounded state and output disturbances. The overall controller consists of two components, a stable state estimator and a tube based, robustly stabilizing model predictive controller. The proposed robust output-feedback controller requires the on-line solution of a quadratic program, which is only marginally more complex then a standard model predictive control formulation. The closed loop system renders a specified invariant set robustly exponentially stable

Published in:

Decision and Control, 2006 45th IEEE Conference on

Date of Conference:

13-15 Dec. 2006