LYAPUNOV-BASED OFFSET-FREE MODEL PREDICTIVE CONTROL OF NONLINEAR PROCESS SYSTEMS

摘要

This work considers the problem of control of nonlinear systems subject to uncertainty. To this end, a Lyapunov-based robust model predictive controller (MPC) design is integrated with a moving horizon based offset-free mechanism to enable improved closed-loop performance. Simulation results are presented to illustrate the key ideas of the proposed design.