Relaxed Barrier MPC for Reference Tracking: Theoretical and experimental studies

摘要

Reference tracking problems, e.g. tracking a temperature profile in a chemical reactor, are important in many practical applications. The objective in a typical reference tracking problem is that the state or a given output of a controlled plant asymptotically tracks a predescribed reference trajectory or reference output. In addition, it is often desired that the tracking error, i.e. the difference between the actual output and the reference output, converges to 0, stays small for all times or stays at least within certain bounds.