Tube-based LPV constant output reference tracking MPC with error bound * * This research was supported by the Impulse 1 program of the Eindhoven University of Technology and ASML.

摘要

We address the constrained output tracking of constant references for linear parameter-varying systems. In model predictive control based on linear parameter-varying state-space representations, offset-free output tracking is generally not possible due to the variations in the scheduling signal. Therefore, we aim instead to guarantee a pre-specified tracking error bound which is achievable for all admissible variations of the scheduling variable. The construction of an invariant set in which such a bound can be satisfied is described. Subsequently a tube-based model predictive controller is designed which brings the state of the system inside this set in finite time. The properties of the approach are demonstrated on numerical examples.