Conditional Reference Adaptation for Offset-free MPC

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

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


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 eort to achieve oset-free tracking increases. In this work a novel approach for oset-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 rst order response. The second outer loop enables oset-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 publicationPreprints of the 19th World Congress The International Federation of Automatic Control
PublisherInternational Federation of Automatic Control
Publication date2014
ISBN (Electronic)978-3-902823-62-5
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


Conference19th World Congress of the International Federation of Automatic Control (IFAC 2014)
Country/TerritorySouth Africa
CityCape Town
OtherThe theme of the congress: “Promoting automatic control for the benefit of humankind”
Internet address
SeriesI F A C Workshop Series


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