Offset Compensation of Continuous Time Model Predictive Control by Disturbance Estimation

• Sakurai Yuta

  Graduate School of Engineering Science, Osaka University

• Ohtsuka Toshiyuki

  Graduate School of Engineering Science, Osaka University

Bibliographic Information

Other Title

• 外乱推定による連続時間モデル予測制御のオフセット補償
• ガイラン スイテイ ニ ヨル レンゾク ジカン モデル ヨソク セイギョ ノ オフセット ホショウ

Abstract

In this paper, an offset compensation method for a continuous-time model predictive control (MPC) is proposed. To achieve offset-free control, additional disturbance states are introduced and the target for MPC is modified based on the estimate of disturbances. The property of steady-state deviation depends on the dimension of the additional disturbance states. An algorithm has already been proposed for discrete-time MPC to achieve zero offset when the model is augmented by disturbance states of the same dimension as tracked variables. We extend this algorithm to continuous-time MPC. A simulation result with the proposed algorithm for a nonlinear tank system is shown. <br>

Journal

• Transactions of the Institute of Systems, Control and Information Engineers

  Transactions of the Institute of Systems, Control and Information Engineers 25 (7), 172-180, 2012

  THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

Keywords

• offset compensation
• disturbance estimation
• model predictive control

Details

• CRID: 1390001205165925120
• NII Article ID: 10031127445
• NII Book ID: AN1013280X
• DOI: 10.5687/iscie.25.172
• ISSN: 2185811X
• ISSN: 13425668
• NDL BIB ID: 023807998
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I023807998
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed