Self-triggered robust output feedback model predictive control of discrete-time linear systems

In networked control systems, the communication load is a main concern for implementing model predictive control (MPC). This paper introduces a self-triggered MPC algorithm under network environments to reduce communication load, for discrete-time linear systems with bounded state and output disturbances, when only the system output can be measured at triggering instants. The proposed algorithm mainly based on a state estimator whose estimation error is bounded by an invariant set, and on the self-triggered model predictive control of a nominal system. Moreover, the new cost function explicitly adopts communication load is in consideration. The proposed algorithm is proved to drive the system to an invariant set with respect to the bounded disturbances. Finally, simulation results is provided to verify the effectiveness of the proposed robust output feedback MPC algorithm.