An Output Feedback Robust Model Predictive Controller Design Based on Quasi-Min Max Algorithm

In this paper, a new output feedback robust model predictive controller (RMPC) for polytopic uncertain systems is developed using quasi min-max algorithm. The new formulation involves using an augmented system description based on state estimates and uncertain estimation errors. The design method yields new linear matrix inequality conditions for the augmented system, which guarantee the robust stability of closed-loop system with control input constraint in strict mathematical manner. The proposed algorithm does not need any offline calculations. The effectiveness of the algorithm is illustrated in an example.