Robust infinite horizon MPC with output feedback and non-minimal model

GONZÁLEZ, ALEJANDRO HERNÁN; ODLOAK, DARCI

Vila Real, Portugal

Congreso; 8th Portuguese Conference on Automatic Control, CONTROLO; 2008

Portuguese Association of Automatic Control, (APCA) , miembro de IFAC

In this work, it is developed a model predictive controller, which is robustly stable to a class of model uncertainty. The controller is based on a non-minimal order state space model where the state is built using the past output measurements and the past input increments. The application of the method is illustrated through the simulation of a low order system multivariable system.