Receding horizon output feedback control for constrained uncertain systems using periodic invariance

In this paper, we consider a receding horizon output feedback control of linear discrete-time systems with polyhedral model uncertainties and input/state constraints. A set of state feedback gains is derived first based on the periodic invariance so that the uncertain system is stabilized when the states are available and the state feedback gains are applied periodically. An LMI formulation is derived to obtain gains of state estimator stabilizing the augmented output feedback system with the pre-determined state feedback gains. A receding horizon output feedback control (RHOC) strategy is proposed based on these state feedback and state estimator gains in conjunction with their corresponding periodically invariant sets. The proposed RHOC strategy enhance the performance and enlarge the stabilizable region by introducing a degree of freedom to steer the augmented state into the periodically invariant sets.