Dynamic Output Feedback Robust MPC with Input Saturation Based on Zonotopic Set-Membership Estimation

Table 1

The complexity analysis of the compared algorithms.

Compared algorithms	Main optimization problem	The refreshment of estimation error set
Algorithm   in [9]	,	Quickhull Algorithm: , ; , ; problem () in [9]: ,
Algorithm   in [8]	For polyhedral set, , ; for ellipsoidal set, ,	Quickhull Algorithm: , ; , ; outer approximation of ellipsoidal sets: ,
Algorithm 10	For polyhedral set, , ; for ellipsoidal set,	Quickhull Algorithm: , ; , ; problem (58): ,

Note: ; ; is the number of vertices related to the outer approximation of by -presentation; is the maximal number of vertices related to the estimation error set (or true state) in the main optimization problem; is the number of processed points; is the maximum number of facets for processed vertices; ; .