Output feedback robust MPC using general polyhedral and ellipsoidal true state bounds for LPV model with bounded disturbance

ABSTRACT

This paper considers the dynamic output feedback robust model predictive control (MPC) for a system with both polytopic model parametric uncertainty and bounded disturbance. For this topic, the techniques for handling the unknown true state are crucial, and the strict guarantee of the input/output/state constraints requires replacing the true state by its bounds in the optimisation problems. Previously, in the separate works, we (i) gave the general polyhedral bound; (ii) proposed the general ellipsoidal bound; (iii) applied some special polyhedral bounds to tighten the ellipsoidal bound since the latter is crucial for guaranteeing recursive feasibility. In this paper, (i)–(iii) are unified, and the up-to-date least conservative treatment of the true state bound is given, so the control performance can be greatly improved. The contribution mainly lies in overcoming the difficulties in developing technical details for the unification. A numerical example is given to illustrate the effectiveness of the new method.

Keywords:

• Model predictive control
• uncertain systems
• dynamic output feedback
• bounded disturbance

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported by the [National Natural Science Foundation of China] under Grant [number 61573269] and by the [National key R&D program of China] under Grant [number 2017YFA0700300].