Tube-based output feedback model predictive control of polytopic uncertain system with bounded disturbances. Issue 15 (October 2019)

• Record Type: Journal Article
• Authors: Yang, Yuanqing; Ding, Baocang; Xu, Zuhua; Zhao, Jun
• Is Part Of: Journal of the Franklin Institute. Volume 356:Issue 15(2019)
• Page Start: 7990
• Page End: 8011
• Publication Date: 2019-10
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2019.06.010
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: This paper addresses the output feedback model predictive control (OFMPC) of the constrained polytopic uncertain system in the presence of bounded state and output disturbances. The controller is designed in such a way that the unmeasurable state of the real system is bounded by the tube whose center is the estimated state of the disturbance-free (reference) model. The infinite-horizon reference control sequence is parameterized as a free control move followed by an output feedback law based on the reference state observer. By applying the OFMPC approach, the reference model is asymptotically stable so that robust stability of the real disturbed system is guaranteed. A numerical example is provided to illustrate the effectiveness of the proposed technique.