摘要：AbstractRobust output feedback control using model predictive control and observers is an important yet rather unexplored topic. This work proposes a controller that consists of a state estimator and a tube based robust predictive control law. In contrast to existing approaches, a single tube is used, which directly bounds the worst case difference between the real behavior and the predicted behavior. This allows to take the interaction between the estimation error and the error in the prediction better into account and leads to less conservative bounds. Conditions to guarantee robust constraint satisfaction and robust stability are presented. The results are illustrated by examples.
