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