MHE in Output Feedback Control of Uncertain Nonlinear Systems via IQCs
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arXiv
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| Format: | Preprint |
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2025
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| _version_ | 1866909931967348736 |
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| author | Guo, Yang Streif, Stefan |
| author_facet | Guo, Yang Streif, Stefan |
| contents | We propose a moving horizon estimation (MHE) scheme for general nonlinear constrained systems with parametric or static nonlinear uncertainties and a predetermined state feedback controller that is assumed to robustly stabilize the system in the absence of estimation errors. Leveraging integral quadratic constraints (IQCs), we introduce a new notion of detectability that is robust to possibly non-parametric uncertainties and verifiable in practice. Assuming that the uncertain system driven by the controller satisfies this notion of detectability, we provide an MHE formulation such that the closed-loop system formed of the uncertain system, the controller and MHE is input-to-state stable w.r.t. exogenous disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_03221 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | MHE in Output Feedback Control of Uncertain Nonlinear Systems via IQCs Guo, Yang Streif, Stefan Systems and Control We propose a moving horizon estimation (MHE) scheme for general nonlinear constrained systems with parametric or static nonlinear uncertainties and a predetermined state feedback controller that is assumed to robustly stabilize the system in the absence of estimation errors. Leveraging integral quadratic constraints (IQCs), we introduce a new notion of detectability that is robust to possibly non-parametric uncertainties and verifiable in practice. Assuming that the uncertain system driven by the controller satisfies this notion of detectability, we provide an MHE formulation such that the closed-loop system formed of the uncertain system, the controller and MHE is input-to-state stable w.r.t. exogenous disturbances. |
| title | MHE in Output Feedback Control of Uncertain Nonlinear Systems via IQCs |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2511.03221 |