A synthesis approach for output feedback robust model predictive control based-on input-output model

摘要

This paper proposes a synthesis approach to output feedback robust model predictive control for a system with both polytopic description and bounded disturbance. It is not required to estimate the system state since the input-output model is directly utilized. The procedure extends the main results of Kothare et al. (1996) in specifying the system model, feedback law and closed-loop stability. By on-line implementation of the controller, the output and input of the closed-loop system will converge to a neighborhood of the equilibrium point. An example of the continuous stirred tank reactor (CSTR) is given to illustrate the effectiveness of the controller.