Stable MPC for tracking with maximal domain of attraction |
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Authors: | AH González D Odloak |
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Affiliation: | a INTEC - Instituto de Desarrollo Tecnológico para la Industria Química, CONICET - Universidad Nacional del Litoral (UNL), Gemes 3450, (3000) Santa Fe, Argentina b INGAR - Instituto de Desarrollo y Diseño, CONICET, Avellaneda 3657, (3000) Santa Fe, Argentina c UNL - Universidad Nacional del Litoral, Santa Fe, Argentina d Department of Chemical Engineering, University of São Paulo, Av. Prof. Luciano Gualberto, trv 3 380, 61548 São Paulo, Brazil |
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Abstract: | In this work, a stable MPC that maximizes the domain of attraction of the closed-loop system is proposed. The proposed approach is suitable to real applications in the sense that it accounts for the case of output tracking, it is offset free if the output target is reachable and minimizes the offset if some of the constraints are active at steady state. The new approach is based on the definition of a Minkowski functional related to the input and terminal constraints of the stable infinite horizon MPC. It is also shown that the domain of attraction is defined by the system model and the constraints, and it does not depend on the controller tuning parameters. The proposed controller is illustrated with small order examples of the control literature. |
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Keywords: | Model predictive control Domain of attraction Minkowski functional |
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