Robust extended Kalman filter based nonlinear model predictive control formulation

— The analysis of the EKF error sequence in [1] is expanded to the case with non-vanishing perturbations. The robust stability of NMPC and EKF pair is established. In addition, we propose an output-feedback NMPC formulation based on both the prior and posterior errors of the EKF to achieve offset-free regulatory control behavior.

• Type: Conference
• Year: 2009
• Where: CDC
• Authors: Rui Huang, Sachin C. Patwardhan, Lorenz T. Biegler
• Keywords: CDC 2009, Control Systems, EKF Error Sequence, EKF Pair, Output-feedback Nmpc Formulation