{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/output-feedback-model-predictive-control","title":"Output-feedback model predictive control under dynamic uncertainties using integral quadratic constraints","arxiv_id":"2504.00196","date":"2025-03-31","proceeding":null,"authors":["Lukas Schwenkel","Johannes Köhler","Matthias A. Müller","Frank Allgöwer"],"abstract":"In this work, we propose an output-feedback tube-based model predictive control (MPC) scheme for linear systems under dynamic uncertainties that are described via integral quadratic constraints (IQC). By leveraging IQCs, a large class of nonlinear and dynamic uncertainties can be addressed. We leverage recent IQC synthesis tools to design a dynamic controller and an observer that are robust to these uncertainties and minimize the size of the resulting constraint tightening in the MPC. Thereby, we show that the robust estimation problem using IQCs with peak-to-peak performance can be convexified. We guarantee recursive feasibility, robust constraint satisfaction, and input-to-state stability of the resulting MPC scheme.","url_abs":"https://arxiv.org/abs/2504.00196v1","url_pdf":"https://arxiv.org/pdf/2504.00196v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"output-feedback-model-predictive-control","repo_url":"https://github.com/schwenkel/mpc-iqc","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[{"task_slug":"model-predictive-control","task_name":"Model Predictive Control"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}