Robust Tube-enhanced Multi-stage Output Feedback MPC for Linear Systems with Additive and Parametric Uncertainties

Abstract

We propose a new robust output feedback Model Predictive Control (MPC) scheme that can handle both additive and parametric (multiplicative) uncertainties using the tube-enhanced multi-stage (TEMS) MPC framework. In TEMS MPC, the significant parametric uncertainties are handled using the multi-stage MPC formulation and the additive uncertainties are handled using the tube-based MPC framework resulting in an improved trade-off between optimality and complexity. The proposed output feedback approach can handle estimation errors in addition to multiplicative and additive uncertainties. A key advantage of the proposed formulation is that it is independent of the state estimation scheme employed and hence it can be easily combined with any estimation scheme. The recursive feasibility and stability of the proposed approach in the linear case are proven. The advantages of the proposed approach are demonstrated for two examples.