Institute of Information Theory and Automation

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Publication details

Model Predictive Control for Offset-Free Reference Tracking

Journal Article

Belda Květoslav

serial: Transactions on Electrical Engineering vol.5, 1 (2016), p. 8-13

keywords: offset-free reference tracking, predictive control, ARX model, state-space model, multi-input multi-output system, robotic system, mechatronic system

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abstract (eng):

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 model of 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.


2012-12-21 16:10