Output feedback integral sliding mode predictive control for linear discrete time systems

Abstract

In this paper, a new output feedback integral sliding model predictive control (OF-ISMPC) strategy is proposed for linear discrete-time systems when the states are unmeasured, which avoids the utilization of a state observer. The proposed OF-ISMPC can ensure strong robustness while at the same time achieving optimal performance of the controlled system. The role of the output feedback integral sliding mode control (OF-ISMC) is to compensate for any matched disturbances. The role of the output feedback robust model predictive control (OF-RMPC) is to solve the optimization problem with constraints. Moreover, the impact of unmatched disturbances on the system is reduced by defining the integral sliding surface as a function of an optimal projection matrix. The input-to-state practical stability for the closed-loop system is proved. Finally, numerical simulations and experimental results are provided to validate the effectiveness of the proposed approach.