A framework for design of scheduled output feedback model predictive control

We present a stabilizing scheduled output feedback Model Predictive Control (MPC) algorithm for constrained nonlinear systems with large operating regions. We design a set of local output feedback predictive controllers with their estimated regions of stability covering the desired operating region, and implement them as a single scheduled output feedback MPC which on-line switches between the set of local controllers and achieves nonlinear transitions with guaranteed stability. This algorithm provides a general framework for scheduled output feedback MPC design.