Robust model predictive control via dynamic output feedback

This paper considers a synthesis approach to dynamic output feedback robust model predictive control for systems with polytopic uncertainty and bounded disturbance/-noise. We consider the special case where the current model of the polytope is exactly known. The primary contribution is the formulation of the overall control problem into a single optimization problem solvable via LMI techniques. By specifying quadratic boundedness, the closed-loop system is guaranteed to converge to a neighborhood of the origin. A numerical example is given to illustrate the effectiveness of the controller.