A new OFRMPC formulation with on-line synthesis of the dynamic output feedback controller

Colombo Junior, Jose Roberto; Harrop Galvao, Roberto Kawakami; Assuncao, Edvaldo [UNESP]

A new OFRMPC formulation with on-line synthesis of the dynamic output feedback controller

Data

2017-11-25

Autores

Colombo Junior, Jose Roberto

Harrop Galvao, Roberto Kawakami

Assuncao, Edvaldo

Editor

Wiley-Blackwell

Tipo

Artigo

Direito de acesso

Acesso restrito

Resumo

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 (C) 2017 John Wiley & Sons, Ltd.