Output feedback stabilization of constrained systems with nonlinear predictive control

We present an output feedback stabilization scheme for uniformly completely observable nonlinear MIMO systems combining nonlinear model predictive control (NMPC) and high‐gain observers. The control signal is recalculated at discrete sampling instants by an NMPC controller using a system model for the predictions. The state information necessary for the prediction is provided by a continuous time high‐gain observer. The resulting ‘optimal’ control signal is open‐loop implemented until the next sampling instant. With the proposed scheme semi‐global practical stability is achieved. That is, for initial conditions in any compact set contained in the region of attraction of the NMPC state feedback controller, the system states will enter any small set containing the origin, if the high‐gain observers is sufficiently fast and the sampling time is small enough. In principle the proposed approach can be used for a variety of state feedback NMPC schemes.