Output Regulation Using Bilinear Lifting Linearization

This paper presents a computationally efficient MPC approach to achieve a nonlinear output regulation using lifting bilinearization. The method uses an internal model to anticipate the future effects of the disturbance. The output regulation MPC formulation is formulated into an augmented reference scheme to reduce computational complexity. By using lifting bilinearization, the MPC formulation transforms into a linear optimal control problem that can be solved efficiently by well-established convex optimization techniques. The effectiveness of the proposed method is demonstrated in a simulation of a quadrotor system operating in three-dimensional space. The method shows adequate performance in improving the input delay time after observing the system state by approximately 90% and overall computational time by approximately 60%.