Output Feedback Model Predictive Control with Steady-State Target Calculation for Fuzzy Systems

In this article, an output feedback model predictive control for fuzzy systems to track a time-varying steady-state target is presented. The steady-state target is calculated through a steady-state target calculation (SSTC) module, which is combined with the controller in the lower layer designing based on the linear time invariant model. The presence of SSTC makes the recursive feasibility as well as the stability difficult to guarantee. This article presents a promising approach by specifying the solution of SSTC as a function of estimated artificial disturbance, designing the robust invariant set offline and including the invariance condition in SSTC. Hence, the proposed approach in this article guarantees that if SSTC optimization problem is feasible, then the dynamic controller steers the system to the time-varying steady-state target. Furthermore, in order to reduce the conservativeness of the proposed approach, a heuristic online approach with N free control moves is proposed where the invariant set specified offline is acting as a terminal region for the dynamic controller. A numerical example is given to show the effectiveness of the proposed approach.