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In this paper, Nonlinear Generalized Predictive Control (NGPC), proposed by Chen  in continuous time, is reformulated into a quadratic optimization problem in order to take into account constraints, and this approach is applied to a particular class of nonlinear systems. The states which are assumed available will be estimated in this work by a high gain observer (HGO). The closed loop dynamics, under combination of predictive controller and observer synthesis, is shown transparent to the designers, and merely manipulated in the sense that output feedback controller explicitly depend on choice of only two parameters (prediction time and high gain parameter). For a nonlinear example of considered class, we show satisfactory performances and robustness in presence of disturbance.