Synthesis of Mixed Objective Output Feedback Robust Model Predictive Control: Synthesis of Mixed Objective Output Feedback RMPC

Aiming at the constrained polytopic uncertain system with energy-bounded disturbance and unmeasurable states, a novel synthesis scheme to design the output feedback robust model predictive control(MPC)is put forward by using mixed H-2/H design approach. The proposed scheme involves an offline design of a robust state observer using linear matrix inequalities(LMIs)and an online output feedback robust MPC algorithm using the estimated states in which the desired mixed objective robust output feedback controllers are cast into efficiently tractable LMI-based convex optimization problems. In addition, the closed-loop stability and the recursive feasibility of the proposed robust MPC are guaranteed through an appropriate reformulation of the estimation error bound (EEB). A numerical example subject to input constraints illustrates the effectiveness of the proposed controller.