An Application of Robust Model Predictive Control with Integral Action

Akcakaya H., Sumer L. G.

INSTRUMENTATION SCIENCE & TECHNOLOGY, vol.37, no.4, pp.410-430, 2009 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 37 Issue: 4
  • Publication Date: 2009
  • Doi Number: 10.1080/10739140903087725
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.410-430
  • Istanbul Technical University Affiliated: Yes


Robust Model Predictive Control Theory (RMPC) which is firstly presented by Kothare et al.[1] is reviewed. In order to use this theory for set-point control of first-order systems with uncertain time delay and gain, the state-space model of the system is extended in order to transform this structural uncertainty to parametric uncertainty. Furthermore, to remove steady-state error, an integral action is added to the controller. The performance of proposed method, i.e., RMPC with Integral Action (RMPC+I) is investigated by simulations and the experimental results are obtained considering several uncertainty circumstances. RMPC+I design technique - proposed in this paper - have good robustness and good steady-state properties in real time application.