Output feedback robust MPC for time-varying system with norm-bounded model parametric uncertainty and disturbance

Abstract

In this paper, for a discrete-time linear system with model parametric uncertainty and disturbance which are norm-bounded, an output feedback model predictive control (MPC) is considered. This paper applies the procedure of [Dynamic output feedback MPC for LPV systems via near-optimal solution, Proceedings of CCC2011] and the ellipsoidal estimation error set refreshment technique in [Dynamic output feedback robust model predictive control based on ellipsoidal estimation error bound, Acta Automatica Sinica 2014], originally both for polytopic model parametric uncertainty. The recursive feasibility of the main optimization problem and quadratic boundedness of closed system are guaranteed. The effectiveness of the proposed MPC is illustrated by a numerical example.