“…In this case, an approach to distributed output feedback RMPC (OFRMPC) is desirable. The majority of such distributed OFRMPC approaches adopt dynamic output feedback and frequently an observer approach is used [26], [27], including a tube-based minimax observer [28], a Luenberger observer [29] and a moving horizon observer [30]. Due to the implementation of the state observer the system order is typically increased [31], [32], [33], which in turn may increase the controller complexity, produce more difficult stability analysis and even reduce control accuracy [34], [35], [33].…”