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