Robust extended Kalman filter based nonlinear model predictive control formulation

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Rui Huang, Sachin C. Patwardhan, Lorenz T. Biegler

Published: 2009, Last Modified: 13 May 2025CDC 2009EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: 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.