Towards Joint State Estimation and Control in Minimax MPC
2001 (English)Report (Other academic)
A new approach to minimax MPC for systems with bounded external system disturbances and measurement errors is introduced. It is shown that joint deterministic state estimation and minimax MPC can be written as an optimization problem with linear and quadratic matrix inequalities. By linearizing the quadratic matrix inequality, a semideﬁnite program is obtained. A simulation study indicates that solving the joint problem can improve performance
Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2001. , 11 p.
LiTH-ISY-R, ISSN 1400-3902 ; 2357
Predictive control, Robust control, Robust estimation, Minimax, Convex optimization
IdentifiersURN: urn:nbn:se:liu:diva-55793ISRN: LiTH-ISY-R-2357OAI: oai:DiVA.org:liu-55793DiVA: diva2:316539