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arXiv · 2511.03221

MHE in Output Feedback Control of Uncertain Nonlinear Systems via IQCs

Yang Guo·Stefan Streif
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Abstract

We propose a moving horizon estimation (MHE) scheme for general nonlinear constrained systems with parametric or static nonlinear uncertainties and a predetermined state feedback controller that is assumed to robustly stabilize the system in the absence of estimation errors. Leveraging integral quadratic constraints (IQCs), we introduce a new notion of detectability that is robust to possibly non-parametric uncertainties and verifiable in practice. Assuming that the uncertain system driven by the controller satisfies this notion of detectability, we provide an MHE formulation such that the closed-loop system formed of the uncertain system, the controller and MHE is input-to-state stable w.r.t. exogenous disturbances.

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Yang Guo, Stefan Streif. 2025-11-05. MHE in Output Feedback Control of Uncertain Nonlinear Systems via IQCs. https://doi.org/10.1109/lcsys.2025.3629926

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