Tube-based robust output feedback MPC for constrained LTV systems with applications in chemical processes

Abstract

Robust output feedback model predictive control (MPC) of linear time-varying (LTV) systems subject to bounded state and output disturbances is considered in this paper. The output feedback controller is designed in such a way that the observer is time-varying so the unknown state and the observer state are bounded by the tubes whose center is the state of the nominal LTV system that is steered to the origin. The on-line computational complexity is similar to that required for nominal MPC for LTV systems. Robust stability is ensured by using the notion of Lyapunov functions. The controller design is illustrated via two examples in chemical processes. The results show that the proposed output feedback controller can guarantee robust stability and constraint satisfaction of the LTV systems in the presence of bounded state and output disturbances.