Synthesis approaches of dynamic output feedback robust MPC for LPV system with unmeasurable polytopic model parametric uncertainty — Part III. Reformulation of a previous approach

For a linear parameter varying (LPV) system including unmeasurable polytopic model parametric uncertainty and polytopic disturbance, the output feedback model predictive control (MPC) is considered. This is based on a companion work, where a series of scalars, for relaxing the disturbance-related constraint handling, are integrated into the solution of dynamic output feedback control. An optimization procedure, for off-line determining the relaxation scalars, is proposed based on the norm-bounding technique. A previous approach based on the state estimator is shown to be a special case.