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Nonlinear offset-free model predictive control

Author(s):

M. Morari, U. Mäder
Conference/Journal:

Automatica, vol. 48, pp. 2059-2067
Abstract:

This paper addresses offset-free reference tracking of asymptotically constant reference signals using Model Predictive Control. Existing results for linear models are extended to general nonlinear models. The core of the proposed method employs a disturbance model and an observer to estimate its state. Typical disturbance models are shown and the implications of using them are discussed. Conditions are given for which this setup eliminates the tracking error asymptotically. Basically, we prove that error free output estimation and error free nominal tracking imply offset-free Model Predictive Control.

Year:

2012
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { MorM_d:2012:IFA_4475,
    author={M. Morari and U. M{\"a}der},
    title={{Nonlinear offset-free model predictive control}},
    journal={Automatica},
    year={2012},
    volume={48},
    number={},
    pages={2059--2067},
    month=jul,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=4475}
}
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