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Robust output feedback model predictive control of time‐delayed systems using interval observers
Author(s) -
Reis de Souza Alex,
Efimov Denis,
Raïssi Tarek
Publication year - 2022
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.5874
Subject(s) - model predictive control , control theory (sociology) , constraint satisfaction , observer (physics) , interval (graph theory) , bounded function , computer science , linear system , constraint (computer aided design) , discrete time and continuous time , robust control , interval arithmetic , mathematics , control (management) , control system , engineering , artificial intelligence , statistics , mathematical analysis , physics , geometry , quantum mechanics , combinatorics , probabilistic logic , electrical engineering
This work addresses the problem of robust output feedback model predictive control (MPC) of constrained, discrete‐time, time‐delayed linear systems subject to (bounded) additive disturbances. The proposed predictive controller incorporates an interval observer, that exploits the available measurement to update the set‐membership of the system states, and an interval predictor, used in the prediction step of the MPC. The proposed algorithm is similar to conventional MPC for linear systems, offering guarantees on recursive feasibility and robust constraint satisfaction, with low computational complexity. Furthermore, the delay is explicitly taken into account in the design, and the obtained scheme easily encompasses delays on the state, on the measurement or the control input.