@article{eprints485,
          author = {Gabriele Pannocchia and Alberto Bemporad},
           title = {Combined design of disturbance model and observer for offset-free model predictive control},
          volume = {52},
            year = {2007},
          number = {6},
           month = {June},
       publisher = {IEEE },
         journal = {IEEE Transactions on Automatic Control},
           pages = {1048--1053},
             url = {http://eprints.imtlucca.it/485/},
        keywords = {Hprop control problem; disturbance model design; dynamic observer; integrating disturbance model; offset-free model predictive control; plant/model mismatch; H infinity control; control system synthesis; predictive control},
        abstract = {This note presents a method for the combined design of an integrating disturbance model and of the observer (for the augmented system) to be used in offset-free model predictive controllers. A dynamic observer is designed for the original (nonaugmented) system by solving an Hprop control problem aimed at minimizing the effect of unmeasured disturbances and plant/model mismatch on the output prediction error. It is shown that, when offset-free control is sought, the dynamic observer is equivalent to choosing an integrating disturbance model and an observer for the augmented system. An example of a chemical reactor shows the main features and benefits of the proposed method.}
}