Robust Output Feedback MPC for LPV Systems Using Interval Observers

• Published in: IEEE transactions on automatic control Vol. 67; no. 6; pp. 3188 - 3195
• Main Authors: dos Reis de Souza, Alex, Efimov, Denis, Raissi, Tarek
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Institute of Electrical and Electronics Engineers
• Subjects: Algorithms; Automatic; Constraints; Discrete time systems; Engineering Sciences; Estimation error; IP networks; Linear systems; Mathematical models; Nonlinear systems; Observers; Output feedback; Parameters; Predictive control; robust control; Robustness; Symmetric matrices; Uncertainty; output feedback; robust control; Predictive control
• ISSN: 0018-9286; 1558-2523; 2334-3303; 1558-2523
• DOI: 10.1109/TAC.2021.3099449

This article addresses the problem of robust output feedback model predictive control for discrete-time, constrained, linear parameter-varying systems subject to (bounded) state and measurement disturbances. The vector of scheduling parameters is assumed to be an unmeasurable signal taking values in a given compact set. The proposed controller incorporates an interval observer, that uses the available measurement to update the set-membership estimation of the states, and an interval predictor, used in the prediction step of the model predictive control (MPC) algorithm. The resulting MPC scheme offers guarantees on recursive feasibility, constraint satisfaction, and input-to-state stability in the terminal set. Furthermore, this novel algorithm shows low computation complexity and ease of implementation (similar to conventional MPC schemes).