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Robust Output Feedback MPC: An Interval-Observer Approach


In this work, we address the problem of output-feedback Model Predictive Control (MPC) of constrained, linear, discrete-time systems corrupted by additive perturbations on both state and output. The use of estimated variables in MPC is challenging and computationally expensive due to constraint satisfaction. To overcome this issue, the proposed approach incorporates interval observers on the MPC scheme to cope with uncertainty, leading to a novel, simple and very intuitive methodology providing robust constraint satisfaction with reduced computational complexity.


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hal-02909626 , version 1 (30-07-2020)


  • HAL Id : hal-02909626 , version 1


Alex Reis de Souza, Denis Efimov, Tarek Raïssi, Xubin Ping. Robust Output Feedback MPC: An Interval-Observer Approach. Proc. IEEE CDC 2020, Dec 2020, Jeju Island, South Korea. ⟨hal-02909626⟩
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