Rejection of Unmeasureable Extended Constant Disturbances using Model Predictive Control

Authors:	Milman Ruth, University of Toronto, Canada Davison Edward Joseph, University of Toronto, Canada
Topic:	2.4 Optimal Control
Session:	Optimal Control Theory and Design Methods
Keywords:	model predictive control, disturbance rejection, output feedback/regulation, observers, tracking

Abstract

This paper considers the Model Predictive Control (MPC) set point tracking/regulation problem for a discrete LTI system, which is subject to a class of unbounded disturbances/tracking signals called extended constant signals. The main contribution is a formulation of the system's plant equations under which, for output regulation, no knowledge of the structure or magnitude of disturbances is needed in order to achieve set point regulation for this class of signals. The result is of interest since it implies that no disturbance observer is necessary in order to solve the set point tracking/regulation problem when full-state feedback is available. The results are experimentally verifed.