Output-feedback controlled-invariant sets for systems with linear parameter-varying state transition matrix

The notion of output-feedback controlled-invariant sets is extended from LTI systems to systems with linear parameter-varying state transition matrix. A theorem is presented that can be used to verify whether a given polytope can be made invariant under output-feedback. The theorem also provides the constraints a control input has to fulfill to make the candidate set invariant. Predictive output-feedback controllers based on such a set can satisfy hard constraints on both the plant state and the control inputs in the presence of process disturbances and measurement noise. Simulation results demonstrate the strength of such a controller that can guarantee constraints for a subset of the state space without requiring state information or estimation.