摘要：AbstractOptimal design and tuning of model predictive controllers is important as it significantly influences the achievable performance. We consider the problem of tuning a tube based robust predictive output feedback controller, which utilizes a linear feedback - the tube controller - to take the uncertainties into account. The design and the tuning of this linear feedback has a big influence on the tube and thus the resulting overall performance. We propose a tuning exploiting the Youla parametrization leading to a convex optimization problem. Conditions are provided to guarantee robust constraint satisfaction and robust set-point tracking. The results are illustrated by examples.
