Abstract

This paper addresses design of MPC controller for dynamic systems in the presence of disturbances. Model Predictive Control (MPC) based on the nominal dynamic models cannot in general guarantee neither feasibility, in terms of constraint satisfaction, nor stability of the closed-loop system in the presence of disturbances. In this regard, it is common to use observers to estimate states and disturbances, allowing control algorithm to reject disturbances. In this paper, we first provide conditions which guarantee feasibility and stability. Then, we demonstrate how one can extend model predictive control for systems with disturbances by applying full state and disturbance observers. To this aim, a two-stage approach is proposed where the MPC problem is decoupled from observer design procedure known as the separation principle.