Simultaneous State Estimation and Model Predictive Control by Multi-Parametric Programming
Additional Document Info
In this work, we demonstrate how Moving Horizon Estimation (MHE) and Model Predictive Control (MPC) can be simultaneously addressed via multi-parametric programming. In particular, we present a method for obtaining the error dynamics, the error bounds, and the dynamics of the estimated states of the MHE which are essential for robust multi-parametric explicit MPC. The explicit incorporation of the estimation error bounds guarantees robustly the satisfaction of constraints on the states and the control inputs. 2010 Elsevier B.V. All rights reserved.