Output Feedback Nonlinear Model Predictive Control for a Class of Nonlinear Systems

The main focus of this paper is on the implementation of an output feedback control scheme with a nonlinear model predictive controller (NMPC) for a class of nonlinear systems. The class of nonlinear systems may include non-minimum phase systems structured in standard normal form having relative degree rho and the corresponding internal system with full relative degree. The sampled data NMPC scheme is applied as feedback controller. We propose an estimation scheme that involves an Extended High Gain Observer (EHGO) to estimate the output derivatives in combination with a High Gain Observer (HGO) which estimates the internal states. A framework for achieving semi global practical stability is presented. The effectiveness of the overall output feedback control scheme is demonstrated on a single link flexible joint manipulator system.