Effcient robust output feedback MPC

Mark Cannon; Shuang Li; Qifeng Cheng; Basil Kouvaritakis

doi:10.3182/20110828-6-IT-1002.03405

Effcient robust output feedback MPC

Mark Cannon^*, Shuang Li, Qifeng Cheng, Basil Kouvaritakis

^*Corresponding author for this work

School of Computer Science and Technology

University of Oxford

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

This paper extends an effcient robust Model Predictive Control (MPC) methodology based on offline optimization of prediction dynamics in two respects. Firstly the case of output feedback via an observer is considered. Secondly, a method is proposed for imposing a bound on worst case performance using dynamic feedback which allows a nominal optimal feedback law to be implemented when this is feasible. The method is applicable to the case of uncertain systems which are not robustly stabilized by nominal LQ-optimal control. An effcient online optimization with feasibility and stability guarantees is proposed.

Original language	English
Title of host publication	Proceedings of the 18th IFAC World Congress
Publisher	IFAC Secretariat
Pages	7957-7962
Number of pages	6
Edition	1 PART 1
ISBN (Print)	9783902661937
DOIs	https://doi.org/10.3182/20110828-6-IT-1002.03405
Publication status	Published - 2011

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	1 PART 1
Volume	44
ISSN (Print)	1474-6670

Keywords

Constraints
Linear systems
Output feedback
Robust predictive control

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10.3182/20110828-6-IT-1002.03405

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AU - Cheng, Qifeng

AU - Kouvaritakis, Basil

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AB - This paper extends an effcient robust Model Predictive Control (MPC) methodology based on offline optimization of prediction dynamics in two respects. Firstly the case of output feedback via an observer is considered. Secondly, a method is proposed for imposing a bound on worst case performance using dynamic feedback which allows a nominal optimal feedback law to be implemented when this is feasible. The method is applicable to the case of uncertain systems which are not robustly stabilized by nominal LQ-optimal control. An effcient online optimization with feasibility and stability guarantees is proposed.

KW - Constraints

KW - Linear systems

KW - Output feedback

KW - Robust predictive control

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M3 - Conference contribution

AN - SCOPUS:84866773072

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SP - 7957

EP - 7962

BT - Proceedings of the 18th IFAC World Congress

PB - IFAC Secretariat

ER -

Effcient robust output feedback MPC

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