Robust stabilizing output feedback nonlinear model predictive control by using passivity and dissipativity

Motivated by the passivity-based nonlinear model predictive control (NMPC) scheme reported in [1], in this paper, we propose a robust stabilizing output feedback NMPC scheme by using passivity and disspativity. Model discrepancy between the nominal model and the real system is characterized by comparing the outputs for the same excitation function, and with this kind of characterization, we are able to compare the supply rate between the nominal model and the real system based on their passivity indices. Then, by introducing specific stabilizing constraint based on the passivity indices of the nominal model into the MPC, we show that our proposed NMPC scheme can stabilize the real system to be controlled.