An improved approach of robust constrained model predictive tracking control for polytopic description systems

Abstract

A novel design of robust constrained model predictive tracking control is proposed for systems with polytopic description. Unlike the conventional robust model predictive tracking control, the proposed method adopts an improved state space model in which the process state variables and tracking error are combined such that they can be tuned in the cost function optimization separately. Based on the proposed new model, more degrees of freedom are provided for the subsequent controller design, which leads to improved control performance. The relevant feasibility and robust stability issues are further discussed, and the effectiveness of the proposed approach is tested on the control of a system which is open-loop unstable with dead time and reverse responses.