Robust Output Feedback MPC for LPV Systems Using Interval Observers
- 26 July 2021
- journal article
- research article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 67 (6), 3188-3195
- https://doi.org/10.1109/tac.2021.3099449
Abstract
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).Keywords
Funding Information
- IPL COSY
- Ministry of Science
- Higher Education of Russian Federation (2019-0898)
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