Offset-free Time-optimal Model Predictive Control for Point-to-Point Motions

摘要

This paper discusses time-optimal point-to-point mo-tion control with high positioning accuracy for linear time-invariant (LTI) systems. An offset-free time-optimal MPCapproach is developed based on the time-optimal model pre-dictive control (TOMPC) method and the offset-free MPCmethod both of which have been proposed in literature. In TOMPC, time-optimality is achieved by mini-mizing the settling time. Offset-free MPC is a disturbancemodel based MPC approach for accurate positioning.