Title :
Robust Output Feedback Model Predictive Control for Constrained Linear Systems under Uncertainty Based on Feed Forward and Positive Invariant Feedback Control
Author :
D. Q. Mayne;S. V. Rakovic;R. Findeisen;F. Allgower
Author_Institution :
Imperial College London, London SW7 2BT, United Kingdom. e-mail: d.mayne@lc.ac.uk
Abstract :
This paper provides a novel solution to the problem of robust output feedback model predictive control of constrained, linear, discrete-time systems in the presence of additive but bounded state and output disturbances. The overall controller consists of two components, a stable state estimator and a tube based, robustly stabilizing model predictive controller. The proposed robust output-feedback controller requires the on-line solution of a quadratic program, which is only marginally more complex then a standard model predictive control formulation. The closed loop system renders a specified invariant set robustly exponentially stable
Keywords :
"Robust control","Output feedback","Predictive models","Predictive control","Linear systems","Uncertainty","Feeds","Feedback control","State estimation","Closed loop systems"
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376851