Output feedback model predictive control for nonlinear systems represented by Hammerstein¿Wiener model

This paper addresses synthesis approaches to output feedback model predictive control (OFMPC) for systems with Hammerstein–Wiener nonlinearity and bounded disturbance/noise. The Hammerstein nonlinearity is removed (or partially removed) by constructing its inverse (or pseudo-inverse). The remaining nonlinearities in the model are incorporated by polytopic descriptions. At each sampling time, OFMPC finds a feedback gain and an estimator, such that the state of the closed-loop system asymptotically converges to a neighbourhood of the origin. A numerical example is given to illustrate the effectiveness of the controller.