An MPC algorithm for offset-free tracking of constant reference signals

A model predictive control (MPC) technique for tracking piecewise constant reference signals is presented. The controlled system is assumed to be linear, time invariant and subject to constraints on both inputs and states. In order to reject constant disturbances and to guarantee offset-free regulat...

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Bibliographic Details
Published in:2012 IEEE 51st IEEE Conference on Decision and Control (CDC) pp. 5182 - 5187
Main Authors: Betti, G., Farina, M., Scattolini, R.
Format: Conference Proceeding
Language:English
Published: IEEE 01.12.2012
Subjects:
Equations
Heuristic algorithms
Optimization
Stability analysis
Steady-state
Trajectory
Xenon
ISBN:9781467320658, 146732065X
ISSN:0191-2216
Online Access:Get full text
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Summary:A model predictive control (MPC) technique for tracking piecewise constant reference signals is presented. The controlled system is assumed to be linear, time invariant and subject to constraints on both inputs and states. In order to reject constant disturbances and to guarantee offset-free regulation also in presence of model/plant mismatch, the control loop is enlarged with integrators, and the system is described in "velocity form". The tracked reference signal is regarded to as one of the optimization variables, so that feasibility is guaranteed also for unfeasible desired references. Stability results are given, and a simulation example is reported.
ISBN:9781467320658
146732065X
ISSN:0191-2216
DOI:10.1109/CDC.2012.6426758