Offset-Free Model Predictive Control with Explicit Performance Specification

This work considers the problem of designing a control law to yield a desired closed-loop response subject to input constraints and plant-model mismatch. To this end, a two tiered model predictive controller is designed that first computes the best response of a certain desired form, and then computes the control action to achieve the prescribed closed--loop response. The key idea is first illustrated in the absence of plant-model mismatch for a prescribed first and second order response of the controlled variables, and illustrated using a simulation example. Subsequently, a formulation is presented to handle plant model mismatch. Finally, the proposed formulation is applied to a chemical process example.