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A new OFRMPC formulation with on‐line synthesis of the dynamic output feedback controller
Author(s) -
Colombo Junior José Roberto,
Galvão Roberto Kawakami Harrop,
Assunção Edvaldo
Publication year - 2017
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.3772
Subject(s) - control theory (sociology) , output feedback , controller (irrigation) , constraint (computer aided design) , computer science , convex optimization , constraint satisfaction , mathematical optimization , stability (learning theory) , line (geometry) , regular polygon , control (management) , mathematics , geometry , artificial intelligence , agronomy , biology , machine learning , probabilistic logic
Summary This paper proposes a new approach for the design of output feedback robust model predictive control (OFRMPC) with a dynamic output feedback controller (DOFC) for linear uncertain systems subject to input and output constraints. The main contribution of this work is the full on‐line synthesis of the DOFC as part of a convex optimization problem, with constraint satisfaction and asymptotic stability guarantees. A numerical example is employed to illustrate the advantage of the proposed control law, as compared with another OFRMPC strategy with partial DOFC synthesis. The present paper also points out an inconsistency in the mathematical development of a previous related OFRMPC formulation (‘improved dynamic output feedback RMPC for linear uncertain systems with input constraints’). Copyright © 2017 John Wiley & Sons, Ltd.