Output Feedback Model Predictive Control of Uncertain Norm-Bounded Linear Systems

Authors:	Franzè Giuseppe, Università della Calabria, Italy Casavola Alessandro, Università della Calabria, Italy Famularo Domenico, Università degli studi di Reggio Calabria, Italy
Topic:	2.5 Robust Control
Session:	Robust Model Predictive Control
Keywords:	Predictive control, Uncertain Linear Systems, Output Feedback, Convex Programming

Abstract

An output feedback constrained MPC control scheme for uncertainAn output feedback constrained MPC control scheme for uncertainLFR/Norm-Bounded discrete-time linear systems is discussed.The design procedure consists of an off-linestep in which a state-feedback and an asymptotic observer (dynamicprimal controller) are designed via BMI optimization and used torobustly stabilize a suitably augmented system. The on-line movinghorizon procedure adds $N$ free control moves to the action of theprimal controller and its computation consists of solving an on-line LMIoptimization problem whose numerical complexity grows up only {\emlinearly} with the control horizon $N$. The effectiveness isillustrated by a numerical exa