Linear offset-free Model Predictive Control

Authors:
Urban Maeder;Francesco Borrelli;Manfred Morari
Affiliations:
Automatic Control Lab, ETH Zurich, CH-8092 Zurich, Switzerland;Department of Mechanical Engineering, University of California, Berkeley, 94720-1740, USA;Automatic Control Lab, ETH Zurich, CH-8092 Zurich, Switzerland
Venue:
Automatica (Journal of IFAC)
Year:
2009

Citing 5
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Abstract

This work addresses the problem of offset-free Model Predictive Control (MPC) when tracking an asymptotically constant reference. In the first part, compact and intuitive conditions for offset-free MPC control are introduced by using the arguments of the internal model principle. In the second part, we study the case where the number of measured variables is larger than the number of tracked variables. The plant model is augmented only by as many states as there are tracked variables, and an algorithm which guarantees offset-free tracking is presented. In the last part, offset-free tracking properties for special implementations of MPC schemes are briefly discussed.