Dynamic Output Feedback Robust MPC via Zonotope-based Set-membership Estimation for general LPV systems

The present paper considers a synthesis approach of dynamic output feedback robust model predictive control (OFRM-PC) for the general linear parameter varying (LPV) system with bounded disturbance. To obtain controller parameters, the main optimization problem is solved by an iterative method, and a simplified method with off-line fixed partial controller parameters. The model parametric uncertainty and the estimation error set are represented by interval matrices and zonotopes. By applying the properties of interval matrices and zonotopic computations, the estimation error set is refreshed via a zonotopic set-membership estimation method. Furthermore, the feasibility of the main optimization problem at the next sampling time can be determined. A numerical example is given to illustrate the proposed approach.