Dynamic Output Feedback Predictive Control with One Free Control Move for the Takagi-Sugeno Model with Bounded Disturbance

In this paper, the fuzzy model-predictive control for a nonlinear system represented by a discrete-Time Takagi-Sugeno model with norm-bounded disturbance is studied. An output feedback algorithm is proposed by parameterizing the infinite horizon control moves and estimated states into one free control move and one free estimated state followed by a dynamic output feedback law. Since the introduced free control move and free estimated state are decision variables that bring more degrees of freedom for the optimization, a larger feasibility region and better control performance can be achieved. By properly designing the constraints in the optimization problem, the recursive feasibility and the convergence of the closed-loop system to the neighborhood of the equilibrium are guaranteed. A numerical example is given to illustrate the effectiveness of the proposed algorithm.