Robust output-feedback MPC with soft state constraints

Title: Robust output-feedback MPC with soft state constraints
Creator: Løvaas, Christian; Seron, Maria M.; Goodwin, Graham C.
Relation: 17th World Congress of the International Federation of Automatic Control (IFAC 2008). Proceedings of the 17th World Congress of the International Federation of Automatic Control (Seoul, Korea 6-11 July, 2008) p. 13157-13162
Relation: http://www.ifac-papersonline.net/Detailed/37912.html
Publisher: International Federation of Automatic Control (IFAC)
Resource Type: conference paper
Date: 2008
Description: In this paper, we present a robust output-feedback model predictive control (MPC) design for a class of open-loop stable systems with hard input- and soft state constraints. The proposed output-feedback design is based on a linear state estimator and a novel parameterization of the soft state constraints that has the advantage of leading to optimization problems of prescribable size. Robustness against unstructured model uncertainty is obtained by choosing the cost function parameters so as to satisfy a linear matrix inequality condition. The proposed output-feedback design incorporates a novel state-feedback design, which may be seen as a generalization of a previous proposal.
Subject: constrained control; robust output-feedback; model predictive control
Identifier: http://hdl.handle.net/1959.13/802784
Identifier: uon:6203
Identifier: ISBN:9781123478902
Language: eng
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