Output-feedback predictive control of constrained linear systems via set-membership state estimation

This paper combines model predictive control (MPC) and set-membership (SM) state estimation techniques for controlling systems subject to hard input a nd state constraints. Linear systems with unknown but bounded disturbances and partial state information are considered. The adopted approach guarante es that the constraints are satisfied for all the states which are compatib le with the available information and for all the disturbances within given bounds. Properties of the proposed MPC-SMI algorithm and simulation studie s are reported.