Low latency output feedback model predictive control for constrained linear systems

Abstract

Low latency control refers to control with a minimal delay between sensing and actuation. For constrained linear systems we propose a novel concept to achieve low latency control for output feedback controllers, which consist of an observer and a predictive controller. Low latency is achieved by splitting the computation of the predictive control law into two parts: First based on the last state estimate a set of control laws is computed, which are parameterized by the yet unknown, future measurement. Once the measurement is available, the controller selects the correct control law and computes the input. We discuss implementation aspects such as the computation of the control laws and the input-to-state stability of the arising closed loop system. An example illustrates the results.