Output feedback RHC of NCSs with intermittent measurements

This chapter studies the robust output feedback RHC problem for constrained linear system subject to periodical measurement losses and external disturbances. The overall robust output feedback receding horizon controller consists of a robust observer that can accommodate the lost measurement, and a new state feedback receding horizon controller fulfilling the input and state constraints. Based on the designed observer, the error bounds of the system state estimate are established. By incorporating the estimation error bounds and the external disturbances, the input and state constraints are augmented and further tightened for the new state feedback receding horizon controller. Furthermore, the iterative feasibility of the proposed robust output feedback RHC algorithm is proved. It is shown that the closed-loop system is asymptotically stable and the system state will periodically converge to several compact sets. Finally, simulation results and comparison studies are provided to verify effectiveness of the proposed robust output feedback RHC algorithm.