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Output feedback robust MPC subject to input saturation based on input-output model

This paper presents a synthesis approach of output feedback robust model predictive control for the system with both polytopic uncertainty and bounded disturbance. The system is represented by a input-output model such that the requirement of on-line estimating system's state is not required. Earlier results are extended by selecting a Lyapunov matrix with full dimension and considering input saturation. Compared with the previous result, the conservatism of controller design is decreased. The on-line calculated controller can guarantee that the closed-loop system converge to a neighborhood of origin. A continuous stirred tank reactor control system is given to illustrate the effectiveness of the approach.