Output feedback and tracking of nonlinear systems with model predictive control (Q5947631)

An output feedback receding horizon (RH) control algorithm for nonlinear discrete-time systems is proposed. The output feedback and tracking problems are considered simultaneously. First, some results on RH output feedback stabilizing controllers are reported. Then, the tracking problem is treated. The controller is composed by a model of an external system (which generates disturbances to be rejected) and a stabilizing RH regulator. The disturbance rejection and tracking properties are guaranteed by the proper definition of the used models. Restricting attention to constant exogenous signals, it is also shown that the adopted regulator structure can guarantee robust tracking in the face of certain plant parameter perturbations. As an example, the simulation results of a cement milling plant are presented.