Synthesis approaches of dynamic output feedback robust MPC for LPV system with unmeasurable polytopic model parametric uncertainty — Part I. Norm-bounded disturbance

The output feedback robust model predictive control for the linear parameter varying system with unmeasurable model parametric uncertainties which are bounded within a polytope, and with norm-bounded disturbance, is addressed. The proposed approach employs the online optimization of the dynamic controller to minimize the bound of a quadratic cost for the undisturbed system. A series of relaxation scalars are introduced for guaranteeing the disturbance-related physical constraints. A numerical example is given to show the effectiveness of the proposed approach.