A tuning approach for offset-free MPC with conditional reference adaptation

Harald Waschl, John Bagterp Jørgensen, Jakob Kjøbsted Huusom, Luigi Del Re

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Model predictive control has become a widely accepted strategy in industrial applications in the recent years. Often mentioned reasons for the success are the optimization based on a system model, consideration of constraints and an intuitive tuning process. However, as soon as unknown disturbances or model plant mismatch have to be taken into account the tuning effort to achieve offset-free tracking increases. In this work a novel approach for offset-free MPC is presented, which divides the tuning in two steps, the setup of a nominal MPC loop and an external reference adaptation. The inner nominal loop addresses the performance targets in the nominal case, decouples the system and essentially leads to a first order response. The second outer loop enables offset-free tracking in case of unknown disturbances and consists of feedback controllers adapting the reference. Due to the mentioned properties these controllers can be tuned separate and by known guidelines. To address conditions with active input constraints, additionally a conditional reference adaptation scheme is introduced. The tuning strategy is evaluated on a simulated linear Wood-Berry binary distillation column example.
Original languageEnglish
Title of host publicationProceedings of the 19th IFAC World Congress
PublisherInternational Federation of Automatic Control
Publication date2014
Pages3062-3067
ISBN (Print)978-3-902823-62-5
DOIs
Publication statusPublished - 2014
Event19th World Congress of the International Federation of Automatic Control (IFAC 2014) - Cape Town, South Africa
Duration: 24 Aug 201429 Aug 2014
http://www.ifac2014.org/

Conference

Conference19th World Congress of the International Federation of Automatic Control (IFAC 2014)
CountrySouth Africa
CityCape Town
Period24/08/201429/08/2014
OtherThe theme of the congress: “Promoting automatic control for the benefit of humankind”
Internet address

Keywords

  • Model predictive
  • Optimization-based control

Cite this

Waschl, H., Jørgensen, J. B., Huusom, J. K., & Del Re, L. (2014). A tuning approach for offset-free MPC with conditional reference adaptation. In Proceedings of the 19th IFAC World Congress (pp. 3062-3067). International Federation of Automatic Control. https://doi.org/10.3182/20140824-6-ZA-1003.02369
Waschl, Harald ; Jørgensen, John Bagterp ; Huusom, Jakob Kjøbsted ; Del Re, Luigi. / A tuning approach for offset-free MPC with conditional reference adaptation. Proceedings of the 19th IFAC World Congress. International Federation of Automatic Control, 2014. pp. 3062-3067
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Waschl, H, Jørgensen, JB, Huusom, JK & Del Re, L 2014, A tuning approach for offset-free MPC with conditional reference adaptation. in Proceedings of the 19th IFAC World Congress. International Federation of Automatic Control, pp. 3062-3067, 19th World Congress of the International Federation of Automatic Control (IFAC 2014), Cape Town, South Africa, 24/08/2014. https://doi.org/10.3182/20140824-6-ZA-1003.02369

A tuning approach for offset-free MPC with conditional reference adaptation. / Waschl, Harald; Jørgensen, John Bagterp; Huusom, Jakob Kjøbsted; Del Re, Luigi.

Proceedings of the 19th IFAC World Congress. International Federation of Automatic Control, 2014. p. 3062-3067.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

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Waschl H, Jørgensen JB, Huusom JK, Del Re L. A tuning approach for offset-free MPC with conditional reference adaptation. In Proceedings of the 19th IFAC World Congress. International Federation of Automatic Control. 2014. p. 3062-3067 https://doi.org/10.3182/20140824-6-ZA-1003.02369