TY  - JOUR
UR  - http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4237315
VL  - 52
A1  - Pannocchia, Gabriele
A1  - Bemporad, Alberto
SP  - 1048
JF  - IEEE Transactions on Automatic Control
KW  - 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
ID  - eprints485
Y1  - 2007/06//
AV  - none
IS  - 6
TI  - Combined design of disturbance model and observer for offset-free model predictive control
PB  - IEEE 
SN  - 0018-9286
N2  - 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.
EP  - 1053
ER  -