Output feedback robust MPC using general polyhedral and ellipsoidal true state bounds for LPV model with bounded disturbance. Issue 3 (17th February 2019)

• Record Type: Journal Article
• Authors: Ding, Baocang; Dong, Jie; Hu, Jianchen
• Is Part Of: International journal of systems science. Volume 50:Issue 3(2019)
• Page Start: 625
• Page End: 637
• Publication Date: 2019-02-17
• Subjects: Model predictive control -- uncertain systems -- dynamic output feedback -- bounded disturbance; System analysis -- Periodicals; 003.3
• DOI: 10.1080/00207721.2019.1567862
• Languages: English
• ISSNs: 0020-7721

Abstract

ABSTRACT: This paper considers the dynamic output feedback robust model predictive control (MPC) for a system with both polytopic model parametric uncertainty and bounded disturbance. For this topic, the techniques for handling the unknown true state are crucial, and the strict guarantee of the input/output/state constraints requires replacing the true state by its bounds in the optimisation problems. Previously, in the separate works, we (i) gave the general polyhedral bound; (ii) proposed the general ellipsoidal bound; (iii) applied some special polyhedral bounds to tighten the ellipsoidal bound since the latter is crucial for guaranteeing recursive feasibility. In this paper, (i)–(iii) are unified, and the up-to-date least conservative treatment of the true state bound is given, so the control performance can be greatly improved. The contribution mainly lies in overcoming the difficulties in developing technical details for the unification. A numerical example is given to illustrate the effectiveness of the new method.