Constant reference tracking for fast linear constrained systems

摘要: This paper addresses the constant reference tracking problem of linear constrained systems with fast dynamics. Constraints satisfaction and goals are guaranteed by introducing an augmented servo architecture resulting in analytical closed-form solution. The proposed has been combined explicit model predictive control (eMPC) method to achieve optimal tracking, constraints piecewise closed form solution simultaneously. is intuitive gives a direct insight into physical system loop feedback properties, therefore makes it easy tune select design parameters practice. Furthermore, leads computationally efficient controller which enables be applicable for dynamic systems. signal assumption reduces complexity MPC considerably. However, shown that present can easily applied applications finite predefined set-points. order cope non-predefined set-point applications, convex combination based interpolation suggested feasible under some mild assumptions.