Robust tracking model predictive control for input-constrained uncertain linear time invariant systems

This paper presents a robust tracking model predictive control (MPC) strategy for offset-free regulation of the output of input-constrained uncertain systems to a non-zero reference signal. To this end, a feedback control law with integral action is proposed, and a feasible and invariant set is explicitly derived on the basis of the feedback law. Finally, a robust one-step-ahead tracking MPC is devised on the basis of the feasible and invariant set in order to improve the control performance. Simulation results show that the proposed tracking MPC successfully achieves robust tracking in terms of both control performance and the size of the feasible set.