A comparative study on output feedback MPC for constrained LPV systems

For the synthesis approaches of output feedback model predictive control for a system with both polytopic uncertainty and bounded disturbance, previous works are different in selecting the feedback laws, choosing the performance cost, specifying the stability and invariance conditions, and handling the physical constraints. This paper gives a comparative study on two of our previous works (Automatica (2008) pp. 258-264; Proc. CCC (2011) pp. 3340-3345). It shows that both works can be mutually improved and extended. The new approaches preserve the merits (i.e., lower computational burden and recursive feasibility) of both previous works, while the control performance may be improved. A numerical example is given to show the effectiveness of the proposed approaches.