%D 2007
%K 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
%N 6
%R 10.1109/TAC.2007.899096
%J IEEE Transactions on Automatic Control
%V 52
%T Combined design of disturbance model and observer for offset-free model predictive control
%I IEEE 
%P 1048-1053
%A Gabriele Pannocchia
%A Alberto Bemporad
%L eprints485
%X 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.