Robust output feedback model predictive control of time-delayed systems using interval observers

This work addresses the problem of robust output feedback model predictive control (MPC) of constrained, discrete-time, time-delayed linear systems subject to (bounded) additive disturbances. The proposed predictive controller incorporates an interval observer, that exploits the available measurement to update the set-membership of the system states, and an interval predictor, used in the prediction step of the MPC. The proposed algorithm is similar to conventional MPC for linear systems, offering guarantees on recursive feasibility and robust constraint satisfaction, with low computational complexity. Furthermore, the delay is explicitly taken into account in the design, and the obtained scheme easily encompasses delays on the state, on the measurement or the control input.