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<p>This work provides a robust model predictive control framework tailored for tracking piece-wise constant reference signals for nonlinear dynamics subject to additive disturbances. The approach integrates setpoint optimization and robust constraint satisfaction into a unified optimization problem, guaranteeing the robust stability within a vicinity of an optimal admissible setpoint. A crucial feature of the approach is its ability to preserve recursive feasibility despite abrupt variations in the target. An offline implementation based on set-valued system representations is also discussed. Numerical examples demonstrate the effectiveness of the controller.</p>

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Robust nonlinear MPC for tracking piece-wise constant reference signals

  • 期刊论文

  • 发表日期：

    2026年2月12日

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  • Huahui Xie,
  • Li Dai,
  • Zhongqi Sun,
  • Di-Hua Zhai,
  • Yuanqing Xia

摘要

This work provides a robust model predictive control framework tailored for tracking piece-wise constant reference signals for nonlinear dynamics subject to additive disturbances. The approach integrates setpoint optimization and robust constraint satisfaction into a unified optimization problem, guaranteeing the robust stability within a vicinity of an optimal admissible setpoint. A crucial feature of the approach is its ability to preserve recursive feasibility despite abrupt variations in the target. An offline implementation based on set-valued system representations is also discussed. Numerical examples demonstrate the effectiveness of the controller.