Model Predictive Control for Offset-Free Reference Tracking
DOI:
https://doi.org/10.14311/TEE.2016.1.008Abstract
The paper deals with the offset-free reference tracking problem of the Model Predictive Control (MPC). That problem is considered for a class of the constant or occasionally changed constant reference signals. Proposed solution arises from a simple subtraction of the ARX modelof two consecutive time steps. The solution is adapted
to a state-space form and it corresponds to usual predictive control design without increase of the design complexity. The construction of the prediction equations and predictive controller structure is explained in the paper.
References
J.K. Huusom, N.K. Poulsen, S.B. Jørgensen, and J.B.Jørgensenb, “ARX-Model based model predictive control with offset-free tracking”, in Proc. 20th European Symposium on Computer Aided Process Engineering, 2010, pp. 1–6.
U. Maeder and M. Morari, “Offset-free reference tracking for pre-dictive controllers”, in Proc. 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5252–5257.
U. Maeder, F., Borrelli and M. Morari, “Linear offset-free model predictive control”, in Automatica 45, 2009, pp. 2214–2222.
G. Pannocchia and J.B. Rawlings, “Disturbance models for offset-free model predictive control”, in AIChE Journal, 2003, 49, (2),
pp. 426–437. http://dx.doi.org/10.1002/aic.690490213
S.J. Qin and T.A. Badgwell, “A survey of industrial model predictive control technology”, in Control Engineering Practice, 2003, 11, pp. 733–764. http://dx.doi.org/10.1016/S0967-0661(02)00186-7
M. Valášek, K. Belda and M. Florian, “Control and calibration
of redundantly actuated parallel robots”, in Proc. 2nd Int. Conf. Parallel Kinematic Machines, Germany, 2002, pp. 411–427.
J.A. Rossiter, Model-based predictive control a practical approach, CRC Press, 2003.
J.M. Maciejowski, Predictive control with constrains, Prentice Hall, 2002.
A. Ordys and D. Clarke, “A state - space description for GPC con-trollers”, in Int. J. Systems SCI., 1993, 24, (9), pp. 1727–1744. http://dx.doi.org/10.1080/00207729308949590
K. Belda and J. Böhm, “Adaptive Generalized Predictive Control
for Mechatronic Systems”, WSEAS Transactions on Systems, 5(8), Greece 2006, pp. 1830-1837.
E. Mosca, Optimal, predictive and adaptive control, Prentice Hall, 1995.
Ch.L. Lawson and R.J. Hanson, Solving least squares problems, Siam, Prentice-Hall, 1995. http://dx.doi.org/10.1137/1.9781611971217
H.G. Golub and Ch.F.L. Van, Matrix computations, The Johns Hopkins Univ. Press, 1989.
K. Belda, “On-line Parameter Tuning of Model Predictive Control”,
in Preprints of the 18th IFAC World Congress, Milano, Italy 2011,
pp. 5489–5494.
K. Belda and D. Vošmik, “Speed Control of PMSM Drives by Ge-neralized Predictive Algorithms”, Proc. of IECON 2012, Canada, pp. 2002-2007.
L. Wang, Model Predictive Control System Design and Imple-mentation Using MATLAB®, Springer, 2009.
K. Belda, and D. Vošmik, “Explicit Generalized Predictive Algorithms for Speed Control of PMSM Drives”. Proc. of IECON 2013, Austria, pp. 2830-2835. http://dx.doi.org/10.1109/iecon.2013.6699580
K. Belda, “On Offset Free Generalized Predictive Control”, Proc. of Conf. on Process Control 2013. Slovakia, pp. 395-400. http://dx.doi.org/10.1109/pc.2013.6581443
