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

Jingyuan Zhan, Xiang Li, Zhong Ping Jiang

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper presents a self-triggered model predictive control (MPC) algorithm for constrained linear discrete-time systems in the presence of bounded state and output disturbances, when only the system output can be measured at triggering instants. The proposed algorithm mainly relies on a state estimator whose estimation error is bounded by an invariant set, and on the self-triggered robust model predictive control of a nominal system, in which the cost function penalizes the nominal system state and control effort as well as the triggering interval. The proposed algorithm is proved to drive the system to an invariant set with respect to the disturbances. Numerical examples are also provided to validate the proposed algorithm and to further illustrate better performance compared with the periodic MPC.

Original languageEnglish (US)
Title of host publication2017 American Control Conference, ACC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781509059928
StatePublished - Jun 29 2017
Event2017 American Control Conference, ACC 2017 - Seattle, United States
Duration: May 24 2017May 26 2017

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2017 American Control Conference, ACC 2017
Country/TerritoryUnited States


  • Event-triggered
  • Model predictive control (MPC)
  • Output feedback
  • Robust control
  • Self-triggered

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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