Offset-free reference tracking for predictive controllers


We 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. Contrary to other approaches, the plant model is augmented only by as many disturbance… (More)
DOI: 10.1109/CDC.2007.4434696

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