On Output Feedback Nonlinear Model Predictive Control Using High Gain Observers for a Class of Systems

In recent years, nonlinear model predictive control schemes have been derived that guarantee stability of the closed loop under the assumption of full state information. However, only limited advances have been made with respect to output feedback in connection to nonlinear predictive control. Most of the existing approaches for output feedback nonlinear model predictive control do only guarantee local stability. Here we consider the combination of stabilizing instantaneous NMPC schemes with high gain observers. For a special MIMO system class we show that the closed loop is asymptotically stable, and that the output feedback NMPC scheme recovers the performance of the state feedback in the sense that the region of attraction and the trajectories of the state feedback scheme are recovered for a high gain observer with large enough gain and thus leading to semi-global/non-local results.