A Robust MPC Algorithm for Offset-Free Tracking of Constant Reference Signals

A robust model predictive control algorithm solving the tracking and the 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) the reformulation of the system in the so-called...

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Veröffentlicht in:	IEEE transactions on automatic control 2013-09, Vol.58 (9), p.2394-2400
Hauptverfasser:	Betti, Giulio, Farina, Marcello, Scattolini, Riccardo
Format:	Artikel
Sprache:	eng
Schlagworte:	Constrained system Convergence disturbance rejection Equations model predictive control (MPC) Optimization robust MPC Robustness tracking Trajectory Uncertainty Vectors
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