A Robust MPC Algorithm for Offset-Free Tracking of Constant Reference Signals
作者： Giulio Betti , Marcello Farina , Riccardo Scattolini
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摘要: A robust model predictive control algorithm solving the tracking and infeasible reference problems for constrained systems subject to bounded disturbances is presented in this technical note. The proposed solution relies on three main concepts: 1) reformulation of system so-called velocity form obtain offset-free when constant are present, 2) use a tube-based approach cope with non-constant but disturbances, 3) outputs as arguments optimization problem references. Convergence results derived by suitably defining auxiliary law terminal set used formulation.
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