Tube based Quasi-min-max Output Feedback MPC for LPV Systems

Abstract

Output feedback model predictive control of polytopic linear parameter varying (LPV) systems subject to input constraints is considered in this paper. The proposed control scheme incorporates robust observer and robust state feedback control. To handle disturbances and model uncertainty, disturbance invariant tube and quasi-min-max MPC are combined to achieve recursive feasibility and robust stability. Simulation results are provided to verify the effectiveness of the proposed algorithm.