中文摘要：

研究具有多包不确定型参数和有界噪声系统的动态输出反馈鲁棒模型预测控制fOutputfeedbackrobustmodelpredictivecontrol，OFRMPC）的综合方法．前期的研究表明，估计误差集合（Estimationerrorset，EES）的更新是输出反馈模型预测控制综合方法研究的一个关键技术．在本文中，通过利用S-procedure，采用新的估计误差集合更新方法．通过适当地在线更新估计误差集合，可获得下一采样时刻更紧凑的估计误差集合．通过数值仿真例子验证了该方法的有效性．

英文摘要：

This paper presents a synthesis approach of dynamic output feedback robust model predictive control （OFRMPC） for systems with both polytopic uncertainty and bounded disturbance. The previous results show that the refreshment of estimation error set （EES） is a key technique for the synthesis approach of output feedback model predictive control （MPC）. In this paper, by applying S-procedure, a new method for refreshing EES is employed. By properly refreshing the EES on-line, a more compact EES for the next sampling time can be obtained. A numerical example is given to illustrate the effectiveness of the approach.