ROBUSTLY FEASIBLE INTEGRAL LQ-MPC CONTROLLER FOR OUTPUT TRACKING IN CONSTRAINED LINEAR SYSTEMS

摘要

This paper considers the dual-mode MPC with linear quadratic performance index in application to robust output tracking of linear constrained discrete time invariant system affected by additive bounded disturbances. The invariant sets were used to ensure robust feasibility of the controller. The well-known Integral Control methodology was coupled with MPC and employed to track the reference value and to reject the disturbances. Paper proposes the algorithms for computing the Maximal Admissible Set, as well as its robust versions. At the end the numerical example showing the performance of Integral Control LQ-MPC is presented.