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A new robust model predictive control method. II: examples
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DOI：10.1016/S0959-1524(02)00132-4.png)
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Abstract
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The success of the single-model MPC (SMPC) controller depends on the accuracy of the process model. Modeling errors cause sub-optimal control performance and may cause the control system to become closed-loop unstable. The goal of this paper is to examine the control performance of the robust MPC (RMPC) method proposed by Wang and Rawlings [34] on several illustrative examples. In this paper, we show the RMPC method successfully controls systems with time-varying uncertainties in the process gain, time constant and time delay and achieves offset-free non-zero set point tracking and non-zero disturbance rejection subject to input and output constraints. (C) 2003 Elsevier Ltd. All rights reserved.
Keywords:
robust model predictive control
tracking
offset-free control
LMI
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