Robust extended Kalman filter based nonlinear model predictive control formulation

@article{Huang2009RobustEK,
  title={Robust extended Kalman filter based nonlinear model predictive control formulation},
  author={Rui Huang and Sachin C. Patwardhan and Lorenz T. Biegler},
  journal={Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference},
  year={2009},
  pages={8046-8051}
}
The analysis of the EKF error sequence in [1] is expanded to the case with non-vanishing perturbations. The robust stability of NMPC and EKF pair is established. In addition, we propose an output-feedback NMPC formulation based on both the prior and posterior errors of the EKF to achieve offset-free regulatory control behavior. 

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