Dynamic output feedback H∞ receding horizon controller design for uncertain discrete-time system with parameter dependent Lyapunov function

In this paper, we present a dynamic output feedback H_infin receding horizon controller for uncertain systems with both norm bound uncertainty and disturbance using new parameter dependent Lyapunov function. This Lyapunov function is proposed to get a less conservative condition and guarantees both closed loop stability and the H_infinnorm bound. The controller is obtained numerically from the output feedback H_infin optimization problem, which is hardly solved analytically. The results are illustrated with numerical example