Article
Harmonic Based Model Predictive Control for Set-Point Tracking
Author/s | Krupa García, Pablo
Limón Marruedo, Daniel ![]() ![]() ![]() ![]() ![]() ![]() ![]() Alamo, Teodoro ![]() ![]() ![]() ![]() ![]() ![]() ![]() |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2022-01 |
Deposit Date | 2022-09-19 |
Published in |
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Abstract | This article presents a novel model predictive control (MPC) formulation for set-point tracking. Stabilizing predictive controllers based on terminal ingredients may exhibit stability and feasibility issues in the event ... This article presents a novel model predictive control (MPC) formulation for set-point tracking. Stabilizing predictive controllers based on terminal ingredients may exhibit stability and feasibility issues in the event of a reference change for small to moderate prediction horizons. In the MPC for tracking formulation, these issues are solved by the addition of an artificial equilibrium point as a new decision variable, providing a significantly enlarged domain of attraction and guaranteeing recursive feasibility for any reference change. However, it may suffer from performance issues if the prediction horizon is not large enough. This article presents an extension of this formulation where a harmonic artificial reference is used in place of the equilibrium point. The proposed formulation achieves even greater domains of attraction and can significantly outperform other MPC formulations when the prediction horizon is small. We prove the asymptotic stability and recursive feasibility of the proposed controller, as well as provide guidelines for the design of its main ingredients. Finally, we highlight its advantages with a case study of a ball and plate system. |
Project ID. | PID2019- 106212RB-C41/AEI/1
![]() DPI2016-76493-C3-1-R ![]() FPI-2017 ![]() |
Citation | Krupa, P., Limón, D. y Álamo, T. (2022). Harmonic Based Model Predictive Control for Set-Point Tracking. IEEE Transactiion on Automatic Control, 67 (1), 48-62. |
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