Preview and Feedforward in Model Predictive Control: A Preliminary Robustness Analysis*

In this paper, we build upon the results presented in the companion paper “Preview and Feedforward in Model Predictive Control: Conceptual and Design Issues”, where we have outlined a novel MPC strategy (PF-MPC) which implements feedforward and preview action. In this paper we embellish the core algorithm so as to provide a certificate of robust stability. In particular, we analyse the PF-MPC in the presence of unmodelled dynamics and unmeasured disturbances. We consider a restricted case, namely, when the set point sequence is constant. This is a necessary precursor to the more general case of time varying reference signals.