Output Feedback Model Predictive Control Design with Input Constraints

Abstract: The paper addresses the problem to design a quadratic stable output/state feedback model predictive control for linear systems with input constraints. In the proposed design technique the model predictive control is designed for N2 step ahead prediction using Lyapunov function approach with cost function guaranteing input constraints. Output gain matrix calculation is realized offline and through dynamic behavior with respect to quadratic stability of closed-loop system only modification of output gain matrix is realized to guarantee input constraints. Two examples are given to demonstrate the eectiveness of the proposed methods.