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Linear Offset-Free Model Predictive Control


M. Morari, U. Mäder, F. Borrelli

Automatica, vol. 45, no. 10, pp. 2214-2222

This work addresses the problem of offset-free Model Predictive Control (MPC) when tracking an asymptotically constant reference. In the first part, compact and intuitive conditions for offset-free MPC control are introduced by using the arguments of the internal model principle. In the second part, we study the case where the number of measured variables is larger than the number of tracked variables. The plant model is augmented only by as many states as there are tracked variables, and an algorithm which guarantees offset-free tracking is presented. In the last part, offset-free tracking properties for special implementations of MPC schemes are briefly discussed.


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M. Morari

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title = "Linear offset-free Model Predictive Control",
journal = "Automatica",
volume = "45",
number = "10",
pages = "2214 - 2222",
year = "2009",
note = "",
issn = "0005-1098",
doi = "DOI: 10.1016/j.automatica.2009.06.005",
url = "",
author = "Urban Maeder and Francesco Borrelli and Manfred Morari",
keywords = "Model predictive control",
keywords = "Reference tracking",
keywords = "No offset",
keywords = "Integral control"
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