Dynamic output feedback robust model predictive control based on ellipsoidal estimation error bound for quasi-lpv systems

Abstract

This paper presents a dynamic output feedback robust model predictive control (DOFRMPC) for the quasiLPV (quasi-linear parameter varying) systems with both polytopic uncertainty and bounded disturbance. Our previous studies have shown that the refreshment of the estimation error set (EES) is a key knob for improving the control performance. In our previous work, for calculating the EES, the recursion of polyhedral set is utilized, which also involves the polyhedral outer approximation of the ellipsoid and the outer ellipsoidal approximation of polyhedral set. By applying S-procedure, a new method for refreshing EES is proposed in this paper which directly utilizes the recursion of ellipsoidal EES. A numerical example is given to illustrate the effectiveness of the approach.