Dynamic output feedback adaptive integral sliding mode predictive control based on a dual-loop Kalman filter

Huili Xiao; Fei Li; Dongya Zhao; Zidong Liu; Xing-Gang Yan; Sarah K. Spurgeon

doi:10.1177/01423312261416968

Dynamic output feedback adaptive integral sliding mode predictive control based on a dual-loop Kalman filter

Huili Xiao
, Fei Li
, Dongya Zhao^*
, Zidong Liu
, Xing-Gang Yan
, Sarah K. Spurgeon

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Abstract

This paper investigates a dynamic output feedback adaptive integral sliding mode predictive control (AISMPC) approach based on a dual-loop Kalman filter (DLKF) for linear discrete-time systems. The considered system class is subjected to bounded disturbances and noise, with constraints on both the inputs and states. The DLKF introduces one loop to estimate the states and another loop to estimate the disturbances. The dynamic output feedback AISMPC consists of two parts: one component is an output feedback adaptive integral sliding mode control (AISMC) to handle disturbances, and the other component is an output feedback robust model predictive control (RMPC) to achieve optimal control with constraints. It is proved that the closed-loop system is stabilized in a neighborhood of the origin. Finally, numerical simulation tests are carried out to validate the effectiveness of the proposed approach.

© The Author(s) 2026

Original language	English
Number of pages	16
Journal	Transactions of the Institute of Measurement and Control
DOIs	https://doi.org/10.1177/01423312261416968
Publication status	Online published - 5 Feb 2026

Funding

The authors disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was partially supported by the National Nature Science Foundation of China (Grant No. 61973315) and the Science and Technology Program of Qingdao, China (Grant No. 22-3-7-cspz-15-nsh).

Research Keywords

Adaptive integral sliding mode control
robust model predictive control
integral sliding mode predictive control
dual-loop Kalman filter
output feedback control

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title = "Dynamic output feedback adaptive integral sliding mode predictive control based on a dual-loop Kalman filter",

abstract = "This paper investigates a dynamic output feedback adaptive integral sliding mode predictive control (AISMPC) approach based on a dual-loop Kalman filter (DLKF) for linear discrete-time systems. The considered system class is subjected to bounded disturbances and noise, with constraints on both the inputs and states. The DLKF introduces one loop to estimate the states and another loop to estimate the disturbances. The dynamic output feedback AISMPC consists of two parts: one component is an output feedback adaptive integral sliding mode control (AISMC) to handle disturbances, and the other component is an output feedback robust model predictive control (RMPC) to achieve optimal control with constraints. It is proved that the closed-loop system is stabilized in a neighborhood of the origin. Finally, numerical simulation tests are carried out to validate the effectiveness of the proposed approach. {\textcopyright} The Author(s) 2026",

keywords = "Adaptive integral sliding mode control, robust model predictive control, integral sliding mode predictive control, dual-loop Kalman filter, output feedback control",

author = "Huili Xiao and Fei Li and Dongya Zhao and Zidong Liu and Xing-Gang Yan and Spurgeon, \{Sarah K.\}",

year = "2026",

month = feb,

day = "5",

doi = "10.1177/01423312261416968",

language = "English",

journal = "Transactions of the Institute of Measurement and Control",

issn = "0142-3312",

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TY - JOUR

T1 - Dynamic output feedback adaptive integral sliding mode predictive control based on a dual-loop Kalman filter

AU - Xiao, Huili

AU - Li, Fei

AU - Zhao, Dongya

AU - Liu, Zidong

AU - Yan, Xing-Gang

AU - Spurgeon, Sarah K.

PY - 2026/2/5

Y1 - 2026/2/5

N2 - This paper investigates a dynamic output feedback adaptive integral sliding mode predictive control (AISMPC) approach based on a dual-loop Kalman filter (DLKF) for linear discrete-time systems. The considered system class is subjected to bounded disturbances and noise, with constraints on both the inputs and states. The DLKF introduces one loop to estimate the states and another loop to estimate the disturbances. The dynamic output feedback AISMPC consists of two parts: one component is an output feedback adaptive integral sliding mode control (AISMC) to handle disturbances, and the other component is an output feedback robust model predictive control (RMPC) to achieve optimal control with constraints. It is proved that the closed-loop system is stabilized in a neighborhood of the origin. Finally, numerical simulation tests are carried out to validate the effectiveness of the proposed approach. © The Author(s) 2026

AB - This paper investigates a dynamic output feedback adaptive integral sliding mode predictive control (AISMPC) approach based on a dual-loop Kalman filter (DLKF) for linear discrete-time systems. The considered system class is subjected to bounded disturbances and noise, with constraints on both the inputs and states. The DLKF introduces one loop to estimate the states and another loop to estimate the disturbances. The dynamic output feedback AISMPC consists of two parts: one component is an output feedback adaptive integral sliding mode control (AISMC) to handle disturbances, and the other component is an output feedback robust model predictive control (RMPC) to achieve optimal control with constraints. It is proved that the closed-loop system is stabilized in a neighborhood of the origin. Finally, numerical simulation tests are carried out to validate the effectiveness of the proposed approach. © The Author(s) 2026

KW - Adaptive integral sliding mode control

KW - robust model predictive control

KW - integral sliding mode predictive control

KW - dual-loop Kalman filter

KW - output feedback control

UR - https://www.webofscience.com/wos/woscc/full-record/WOS:001680324300001

U2 - 10.1177/01423312261416968

DO - 10.1177/01423312261416968

M3 - RGC 21 - Publication in refereed journal

SN - 0142-3312

JO - Transactions of the Institute of Measurement and Control

JF - Transactions of the Institute of Measurement and Control

ER -

Dynamic output feedback adaptive integral sliding mode predictive control based on a dual-loop Kalman filter

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