Output feedback robust MPC based-on direct input-output model

Abstract

This paper proposes a synthesis approach to output feedback robust model predictive control (RMPC) for systems with both polytopic description and bounded noise. Unlike previous works, we do not utilize the state space model. Hence, there is no requirement for estimating the bounds on the true state. We directly utilize the input-output model. The feedback control law is based on the current output, past outputs and past inputs. By on-line implementation of the controller, the output and input of the closed-loop system will converge to a neighborhood of the equilibrium point. A numerical example is given to illustrate the effectiveness of the controller.