Robust extended Kalman filter based nonlinear model predictive control formulation

The analysis of the EKF error sequence in 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 reg...

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Bibliographic Details
Published inProceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference pp. 8046 - 8051
Main Authors Rui Huang, Patwardhan, S.C., Biegler, L.T.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2009
Subjects
Additive noise
Chemical engineering
Chemical technology
Error correction
Nonlinear systems
Predictive control
Predictive models
Robust control
Robust stability
Stability analysis
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Summary:The analysis of the EKF error sequence in 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.
ISBN:9781424438716
1424438713
ISSN:0191-2216
DOI:10.1109/CDC.2009.5400421