Dynamic output feedback robust MPC with convex optimisation for system with polytopic uncertainty

Abstract

ABSTRACTThis paper proposes a dynamic output feedback robust model predictive control for system with polytopic model uncertainty. Earlier researches on this topic utilise iterative methods to solve the non-convex optimisation problem which are computationally demanding. In order to reduce the computational burden, we explore a new approach in this paper, where, by utilising some proper matrix transformations, a computationally more efficient but conservative convex optimisation problem is formulated which can be solved in terms of linear matrix inequalities. Furthermore, we try to reduce the conservativeness by introducing a nonsingular matrix as a degree of freedom. The recursive feasibility and the convergence of the augmented state to the equilibrium point are guaranteed. The effectiveness of the proposed approach is illustrated by two numerical examples.