Robust extended Kalman filter based nonlinear model predictive control formulation

• Published in: Proceedings 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
• Language: English
• 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

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...