【摘要】 通过状态观测器的状态估计代替内部模型的状态反馈，推导了基于状态观测器的增量式模型预测控制算法，通过增广状态估计实现实测的输出反馈对内部模型进行修正；其次，当模型预测控制内部模型与实际被控对象存在模型失配时，得到存在模型失配的闭环系统的状态方程，研究了闭环系统的鲁棒稳定性；最后，给出一个线性对象和一个非线性对象的仿真示例，并对线性示例进行模型失配下的稳定性分析，仿真结果表明该控制算法具有较好的控制效果，并具有一定的鲁棒稳定性。更多还原

【Abstract】 In this paper, the state observer’s state estimation was used to replace state feedback of the internal model, including having the state observer based to derive incremental model predictive control algorithm, and having the augmented state estimation based to modify the internal model by the output feedback of the measured data. In addition, when a model mismatch between internal model of the model predictive control and the actually-controlled objective occured, the state equation of the closed-loop system with a model mismatch was obtained and the robust stability of the closed-loop system was studied. Finally,the simulation examples of a linear object and a nonlinear object were presented, and the stability analysis of the linear example under model mismatch was carried out. Simulation results show that the control algorithm proposed has better control effect and robust stability.更多还原