“Output Feedback Stabilization with Nonlinear Predictive Control: Asymptotic properties”

Authors: Lars Imsland, Rolf Findeisen, Frank Allgöwer and Bjarne A. Foss,
Affiliation: NTNU, Department of Engineering Cybernetics and University of Stuttgart
Reference: 2003, Vol 24, No 3, pp. 169-179.

Keywords: nonlinear model, predictive control, output feedback, high-gain observers, asymptotic convergence

Abstract: State space based nonlinear model predictive control (NM PC) needs the state for the prediction of the system behaviour. Unfortunately, for most applications, not all states are directly measurable. To recover the unmeasured states, typically a stable state observer is used. However, this implies that the stability of the closed-loop should be examined carefully, since no general nonlinear separation principle exists. Recently semi-global practical stability results for output feedback NMPC using a high-gain observer for state estimation have been established. One drawback of this result is that (in general) the observer gain must be increased, if the desired set the state should converge to is made smaller. We show that under slightly stronger assumptions, not only practical stability, but also convergence of the system states and observer error to the origin for a sufficiently large but bounded observer gain can be achieved.

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  title={{Output Feedback Stabilization with Nonlinear Predictive Control: Asymptotic properties}},
  author={Imsland, Lars and Findeisen, Rolf and Allgöwer, Frank and Foss, Bjarne A.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}