New Formulation of Dynamic Output Feedback Robust Model Predictive Control with Guaranteed Quadratic Boundedness

The dynamic output feedback robust model predictive controller for a system with both polytopic uncertainty and bounded disturbance is addressed in this paper. This controller utilizes a main optimization problem to find the control law and a simple auxiliary optimization problem to refresh the bounds on the true state. The main optimization problem, which is not necessarily solved at each sampling instant, achieves the near‐optimal solution. The auxiliary optimization, which is solved at each sampling instant, is followed with a simple criterion which determines whether or not to solve the main optimization problem at the next sampling time. By applying the proposed method, the augmented state of the closed‐loop system is guaranteed to converge to the neighborhood of the equilibrium point.