Dynamic output feedback H∞receding horizon controller design for uncertain discrete-time system with parameter dependent Lyapunov function

In this paper, we present a dynamic output feedback Hinfin receding horizon controller for uncertain systems with both norm bound uncertainty and disturbance using new parameter dependent Lyapunov function. This Lyapunov function is proposed to get a less conservative condition and guarantees both closed loop stability and the Hinfinnorm bound. The controller is obtained numerically from the output feedback Hinfin optimization problem, which is hardly solved analytically. The results are illustrated with numerical example