Frequency domain tuning method for unconstrained linear output feedback model predictive control

This paper provides a novel solution to the problem of tuning linear output feedback model predictive control (MPC). A systematic tuning method that allows to obtain all the parameters of an unconstrained output feedback MPC based on disturbance model and observer is presented. It is shown that such tuning can be translated to a frequency domain control design problem, which can be solved using existing techniques. Experimental results on a quadrotor reference tracking problem show the effectiveness of the proposed MPC tuning method.