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Reference Tracking with MPC


U. Mäder

IfA Internal Seminar Series

The standard way to achieve offset-free tracking in MPC is to add the disturbance dynamics to the prediction model and then use an observer to estimate the real disturbance. This talk gives a overview of the method for the particular case when the reference is piecewise constant. An extension is then presented to more complex signals such as sinesand ramps.


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M. Morari

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