Robust Output Feedback MPC: An Interval-Observer Approach

This work addresses the problem of output feedback Model Predictive Control (MPC) of constrained, linear, discrete-time systems corrupted by additive perturbations on both state and output. The use of estimated variables in MPC is challenging due to the need of guaranteeing robust constraint satisfaction. Many of the existing solutions for this problem are either computationally expensive or conservative. To overcome this issue and cope with uncertainty, the proposed approach incorporates interval observers on the MPC scheme, leading to a novel, simple and very intuitive methodology providing robust constraint satisfaction with reduced computational complexity.