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Tube Model Predictive Control: Output Feedback Case


Sasa V. Rakovic


The talk is concerned with robust output feedback model predictive control. The proposed control methodology is based on the concepts of set invariance and receding horizon control. In control design for output feedback problems, the underlying state of the controlled uncertain system at any time instance is a set of possible states consistent with initial uncertainty, applied controls and observations which are potentially corrupted with disturbances. Computational simplifications for the linear case are achieved by employing the standard Luenberger observer and using invariant sets to bound estimation errors and disturbances. The method offers a robust model predictive controller of marginally increased computational complexity compared with the one for the deterministic case. In fact, the method allows simultaneous robust control and an estimate of the state of the controlled uncertain system within a set of possible states. Moreover, the controller guarantees that the uncertain trajectories converge exponentially fast to a set (in fact, to a set of sets) and remain confined in this set once it is reached.

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