Output Feedback Nonlinear Predictive Control -a Separation Principle Approach

Over the recent years many advances in the area of nonlinear model predictive control have been made. However, with respect to the output feedback problem and predictive control only a limited number of results are available. Most of the existing approaches do only guarantee local stability. In this note we propose the use of a high gain observer in combination with a sampled nonlinear predictive controller for a special MIMO system class. The resulting output feedback leads to semiglobal practical stability and recovery of performance of the state feedback controller. The results are valid for a wide class of NMPC schemes. Thus they can be considered as a special separation principle for NMPC.