Dynamic output feedback robust MPC with relaxed constraint handling for LPV system with bounded disturbance

Abstract

For the constrained linear parameter varying (LPV) system with bounded disturbance, a dynamic output feedback model predictive control (MPC), with a series of scalars for relaxing the disturbance-related constraints handling, is proposed. An optimization procedure, for off-line determining the relaxation scalars, is proposed based on the norm-bounding technique. The augmented state of the closed-loop system is guaranteed to converge to the neighborhood the equilibrium point. A numerical example is given to show the effectiveness of the results.

A Summary of Dynamic Output Feedback Robust MPC for Linear Polytopic Uncertainty Model with Bounded Disturbance

“…Consider the following linear parameter varying (LPV) model: where z(k) ∈ R n z (see [5,6]) and z ′ (k) ∈ R n z ′ (see [7,8]) are the constrained signal and penalized signal, respectively, and w is unknown, norm-bounded, and persistent.…”