MPC enhancement for tracking of complex profiles — The basic technique

This paper develops a unique approach that can be imposed on conventional predictive control schemes to provide tighter control when tracking complex setpoint trajectories. The method introduces a correction parameter η, independent of plant gain, evaluated online at each control timestep to drive the plant output to its reference more accurately than the original schemes. The strategy was applied to various systems that possess deadtime, higher order and multivariable characteristics with improved closed loop control. This is evidenced by significant reductions of mean square errors when using η. The strategy was applied on a nonlinear system and a practical setup, with reduced tracking error.