Robust Output Feedback Model Predictive Control for Time-delay Singular Systems via Relaxation Matrices

The paper presents robust model predictive control (MPC) scheme of output feedback for time delay singular systems with bounded disturbance. At each sampling internal, by Lyapunov theory, the optimal problem with infinite horizon objective function is reduced to a convex optimization problem minimizing the worst-case linear quadratic objective function and a control sequence is calculated. In terms of linear matrix inequalities and relaxation matrices, the sufficient conditions on the existence of output feedback control are derived and expressed as linear matrix inequalities. Further, an iterative MPC algorithm is proposed for the on-line synthesis of the output feedback controllers with the conditions guaranteeing the robust stability of the closed-loop systems. Finally, a simulation example is presented to show the effectiveness of the proposed MPC scheme.