Model predictive control for tracking with implicit invariant sets (Q6947599)

In the paper, the application of model predictive control (MPC) technique to the tracking control problem with implicit terminal components is discussed. A controller is constructed that can be efficiently designed while still benefiting from the addition of artificial variables inherent to the tracking formulation. It is shown that the offline computational cost of the controller design is significantly reduced for large-scale systems. In the final section, the method is illustrated through a case study involving a mass-spring-damper system of variable size.