Author/Authors :
L. Imsland، نويسنده , , R. Findeisen، نويسنده , , E. Bullinger، نويسنده , ,
F. Allgo«wer and B.A. Foss، نويسنده ,
Title Of Article :
A note on stability, robustness and
performance of output feedback
nonlinear model predictive
control
Latin Abstract :
In recent years, nonlinear model predictive control (NMPC) schemes have been derived that guarantee stability of the closed loop
under the assumption of full state information. However, only limited advances have been made with respect to output feedback in
the framework of nonlinear predictive control. This paper combines stabilizing instantaneous state feedback NMPC schemes with
high-gain observers to achieve output feedback stabilization. For a uniformly observable MIMO system class it is shown that the
resulting closed loop is asymptotically stable. Furthermore, the output feedback NMPC scheme recovers the performance of the
state feedback in the sense that the region of attraction and the trajectories of the state feedback scheme can be recovered to any
degree of accuracy for large enough observer gains, thus leading to semi-regional results. Additionally, it is shown that the output
feedback controller is robust with respect to static sector bounded nonlinear input uncertainties.
NaturalLanguageKeyword :
Nonlinear separation principle , Nonlinear model predictive control , High gain observers , Output feedback stabilization
JournalTitle :
Studia Iranica
