A note on stability, robustness and performance of output feedback nonlinear model predictive control

L. Imsland, R. Findeisen, E. Bullinger, F. Allgöwer, B.A. Foss

Research output: Contribution to journalArticle

53 Citations (Scopus)

Abstract

In recent years, nonlinear model predictive control (NMPC) schemes have been derived that guarantee stability of the closed loop under the assumption of full state information. However, only limited advances have been made with respect to output feedback in the framework of nonlinear predictive control. This paper combines stabilizing instantaneous state feedback NMPC schemes with high-gain observers to achieve output feedback stabilization. For a uniformly observable MIMO system class it is shown that the resulting closed loop is asymptotically stable. Furthermore, the output feedback NMPC scheme recovers the performance of the state feedback in the sense that the region of attraction and the trajectories of the state feedback scheme can be recovered to any degree of accuracy for large enough observer gains, thus leading to semi-regional results. Additionally, it is shown that the output feedback controller is robust with respect to static sector bounded nonlinear input uncertainties.
Original languageEnglish
Pages (from-to)633-644
Number of pages11
JournalJournal of Process Control
Volume13
Issue number7
DOIs
Publication statusPublished - 2 May 2003

Keywords

  • nonlinear model predictive control
  • output feedback stabilization
  • high gain observers
  • nonlinear separation principle

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