Codesign of Quantized Dynamic Output Feedback MPC for the Takagi–Sugeno Model

Abstract

We present a co-design of measurement quantized dynamic output feedback model predictive control (DOFMPC) for Takagi-Sugeno model with bounded disturbance. The system output is quantized by a dynamic quantizer before it is transmitted to the DOFMPC controller. Hence, we utilize the dynamic output feedback control law with quantized output signal and consider the mixed input and quantized output constraint for the controller design. By optimizing the quantizer and controller paramters on-line, the control performance is enhanced. Moreover, we formulate a 2-leveled optimizations, with the upper level optimizing the performance index and the lower level optimizing the soft constraint in a lexicographic order, for the co-design of the DOFMPC controller and dynamic quantizer. Thus, there are more degrees of freedom for tighting the soft constraints. The recursive feasibility and stability of the proposed approaches are guaranteed. The applicability of the proposed approach is illustrated by a simulation example.