Switching Adaptive Output Feedback MPC for Input-constrained Neutrally Stable Linear Plants

This paper presents an adaptive output feedback MPC for an uncertain input-constrained neutrally stable linear plant using control-relevant switching. By employing an input-to-state stabilizing MPC as the multi-controller, switching adaptive output feedback MPC is proposed for the system. Unlike the previous results which consider nominal stability and use the state feedback, our scheme uses the output feedback and can deal with modelling uncertainties. The proposed scheme guarantees global stability and uses finite horizon MPC. Simulation results are given to show the effectiveness of the scheme.