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Robust output feedback MPC for LPV systems using interval observers

Alex dos Reis de Souza 1 Denis Efimov 1 Tarek Raïssi 2
1 VALSE - Finite-time control and estimation for distributed systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
Abstract : This work addresses the problem of robust output feedback model predictive control for discrete-time, constrained, linear parameter-varying systems subject to (bounded) state and measurement disturbances. The vector of scheduling parameters is assumed to be an unmeasurable signal taking values in a given compact set. The proposed controller incorporates an interval observer, that uses the available measurement to update the setmembership estimation of the states, and an interval predictor, used in the prediction step of the MPC algorithm. The resulting MPC scheme offers guarantees on recursive feasibility, constraint satisfaction, and input-to-state stability in the terminal set. Furthermore, this novel algorithm shows low computation complexity and ease of implementation (similar to conventional MPC schemes).
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Submitted on : Friday, May 7, 2021 - 11:39:15 AM
Last modification on : Friday, April 1, 2022 - 3:48:53 AM
Long-term archiving on: : Sunday, August 8, 2021 - 6:29:30 PM


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Alex dos Reis de Souza, Denis Efimov, Tarek Raïssi. Robust output feedback MPC for LPV systems using interval observers. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2021, ⟨10.1109/TAC.2021.3099449⟩. ⟨hal-03220490⟩



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