Abstract
Abstract—Nonlinear Model Predictive Control (NMPC),
generally based on nonlinear state space models, needs
knowledge of the full state for feedback. However, in practice
knowledge of the full state is usually not available.
Therefore, an asymptotically stabilizing MPC scheme for a
class of nonlinear discrete-time systems is proposed, which
only requires knowledge of the output of the system for
feedback. The presented output based NMPC scheme consists
of an extended observer interconnected with an NMPC
controller which represents a possibly discontinuous state
feedback control law. Sufficient conditions for asymptotic
stability of the system in closed-loop with the NMPC observer
interconnection are derived using the discrete-time input-tostate
stability framework. Moreover, it is shown that there
always exist NMPC tuning parameters and observer gains,
such that the derived sufficient stabilization conditions can
be satisfied.
Original language | English |
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Title of host publication | Proceedings of the 17th Symposium on Mathematical Theory for Networks and Systems(MTNS2006) 24-28 July 2006, Kyoto, Japan |
Place of Publication | Kyoto, Japan |
Publisher | MTNS |
Pages | 771-781 |
Publication status | Published - 2006 |