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Offset-free reference tracking for predictive controllers
2007 46th IEEE Conference on Decision and Control, 2007We discuss the offset-free reference tracking problem for linear constrained systems in the presence of disturbances and plant-model mismatch. Introducing disturbance models, we show how to construct a controller/observer combination, such that zero offset is achieved.
Urban Maeder, Manfred Morari
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Offset-free model predictive controller of a heat pump
2014 American Control Conference, 2014This work presents an offset-free model predictive control (OF-MPC) design for energy-efficient control of a heat pump. A model developed from a combination of first-principles and empirical components with parameters estimated using real heat pump data is used as a test bed for the implementation of the MPC design.
Matt Wallace +3 more
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Disturbance models for offset‐free model‐predictive control
AIChE Journal, 2003AbstractModel predictive control algorithms achieve offset‐free control objectives by adding integrating disturbances to the process model. The purpose of these additional disturbances is to lump the plant‐model mismatch and/or unmodeled disturbances. Its effectiveness has been proven for particular square cases only.
PANNOCCHIA, GABRIELE, RAWLINGS JB
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On a Property of a Class of Offset-Free Model Predictive Controllers
IEEE Transactions on Automatic Control, 2009We consider a model predictive control framework that includes a discrete-time linear time-invariant nominal plant model augmented with an output integrator disturbance model and a Kalman filter to estimate the state and disturbance vectors. While the application of this framework can guarantee offset-free control, it has shown a consistent limitation ...
Vibhor L. Bageshwar, Francesco Borrelli
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Predictive control for offset-free motion of industrial articulated robots
2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), 2017This paper deals with the design of model predictive control for the precise motion of industrial articulated robots. The solution is based on specific incremental formulations of equations of predictions. The proposed formulations enable the design to compensate and suppress undesirable positional offsets.
Kvetoslav Belda, Václav Záda
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Offset-free model predictive controller for Vapor Compression Cycle
2012 American Control Conference (ACC), 2012This work describes the application of an offset-free model predictive controller for a Vapor Compression Cycle (VCC). The MPC strategy is based on an empirically-identified linear model obtained using data simulated from a first-principle model of a VCC. The VCC model is interfaced with a building simulation EnergyPlus.
Matt Wallace +4 more
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Integration of offset-free control framework with Koopman Lyapunov-based model predictive control
2021 American Control Conference (ACC), 2021Koopman operator is an infinite-dimensional linear operator that governs the evolution of observable functions along trajectories of a given nonlinear dynamical system. Recently, several predictive control methods utilizing data-driven approximation of Koopman operator have been developed and applied in various fields.
Sang Hwan Son +2 more
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ROBUST OFFSET-FREE MODEL PREDICTIVE CONTROL
IFAC Proceedings Volumes, 2002Abstract In this paper a method for designing robust offset-free MPC controllers for (possibly) nonzero targets is presented. The proposed controller is guaranteed to track the controlled variable to its target for any plant that lies in a polytopic region.
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Controller Parametrization for Offset-free Control Using Set-Based Feasibility Methods
2019 American Control Conference (ACC), 2019Achieving a new set point and maintaining it with a desired precision is a common control problem. In case the reference is not fixed, or a priori unknown disturbances are present, the problem is often referred to as offset-free control. We consider the problem of finding suitable controller parameters to obtain an offset-free control up to a certain ...
Petar Andonov +2 more
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On offset free generalized predictive control
2013 International Conference on Process Control (PC), 2013The paper deals with offset free reference tracking problem for reference signals composed of step and ramp functions. The proposed solution arises from usual design of generalized predictive control supplemented with specific modifications suppressing or ideally removing undesirable offset (steady state error) from required behavior.
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