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The model with polytopic parametric uncertainty and bounded disturbance is controlled by the approach named dynamic OFRMPC (Output Feedback Robust Model Predictive Control). A key knob for control performance and region of attraction for this approach is the selection of Lyapunov matrix. A Lyapunov matrix, which does not have structural restriction, is proposed. In the ICCA (Iterative Cone Complementary Approach), which is invoked in optimizing the control law parameters, the starting up steps are designed as a variant CCA (Cone Complementary Approach). ICCA designs an outer loop, over CCA, for searching the minimum cost bound, while the variant CCA omits the outer loop by adding the cost bound in CCA objective function. This starting up can reduce the computational burden. The suboptimal dynamic OFRMPC (where CCA is avoided) is discussed, and a previous approach is re-formulated. A numerical example is given to show the advantages of the proposed approach.

A Synthesis Approach to Output Feedback MPC for LPV Model With Bounded Disturbance