An off-line approach to dynamic output feedback robust model predictive control with ellipsoidal estimation error set

For the system with both polytopic uncertainty and bounded disturbance, an off-line approach to the dynamic output feedback robust model predictive control is considered. To reduce the on-line computational burden, a look-up table is constructed off-line for on-line searching the real-time control parameters. During the on-line searching stage, if an off-line calculated ellipsoidal region of attraction contains the real-time estimated state, then the corresponding off-line calculated control parameters are real-time feasible. On-line, the real-time controller parameters are searched in the look-up table according to region of attraction with the closest containment of the real-time estimated state. A numerical example is given to illustrate the effectiveness of the approach.