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Reference Tracking with MPC


U. Mäder

IfA Internal Seminar Series

Reference tracking should be simple. However, our "PID intuition" often fails us for complex systems: Multi-input, multi-output, constraints and windup are just a few of the things to worry about. In this talk, I will show what can go wrong and how to do it better. Though the talk is a lot about linear (unconstrained) systems, the proposed method fits rather nicely into the MPC framework for constrained systems.


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