Output feedback robust MPC with one free control move for the linear polytopic uncertain system with bounded disturbance

In this paper a previous approach, for the robust model predictive control (MPC) for a linear polytopic uncertain system, is extended to the case with bounded disturbance and unmeasurable state. The controller on-line optimizes a free control move followed by an output feedback control law based on the pre-specified state estimator. A key technique for this controller is an appropriate formulation of the estimation error bound which accounts for recursive feasibility of the optimization problem. The quadratic boundedness (QB) of the augmented state is guaranteed by the proposed approach. A numerical example is given to illustrate the effectiveness of the proposed controller.