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Dynamic Output Feedback Robust MPC for LPV Systems Subject to Input Saturation and Bounded Disturbance

Xubin Ping*, Zhiwu Li, and Abdulrahman Al-Ahmari
International Journal of Control, Automation, and Systems, vol. 15, no. 3, pp.976-985, 2017

Abstract : "For linear parameter varying (LPV) systems with unknown scheduling parameters and bounded disturbance, a synthesis approach of dynamic output feedback robust model predictive control (OFRMPC) with input saturation is investigated. By pre-specifying partial controller parameters, a main optimization problem is solved by convex optimization to reduce the on-line computational burden. The main optimization problem guarantees that the estimated state and estimation error converge within the corresponding invariant sets such that recursive feasibility and robust stability are guaranteed. The consideration of input saturation in the main optimization problem improves the control performance. Two numerical examples are given to illustrate the effectiveness of the approach."

Keyword : Input saturation, model predictive control, output feedback, uncertain system.

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