| Robust Offset Free Model Predictive Control |
Constraint Saturation Example
- Model 2 is the plant and Yt = 1.
- The input constraint causes the set point to be unreachable.Wednesday,
- A disturbance at time K = 50 enters system. The set point is reachable.
- Both robust MPC with target calculation and integral control with ARMAX models successfully reject the disturbance .
- But integral control with the ARMAX model exhibits windup behavior by delaying decreasing Uk from its constraint.
Conclusion and Future Work
Conclusion
- Developed robust MPC theory that controls a time-varying un-certain system described by .
- Modified the theory to include integral control that did not exhibit wind-up.
- Developed stability conditions that guaranteed offset free performance achieved without windup.
Future Work
- Replace state measurement with output measurement and state estimation.
- Study the model uncertainty description to see if it is possible to characterize the set for which robust offset free control is possible.
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