For a class of nonlinear offset-free MPC designs with quadratic costs and backoff constraints, the authors prove robust asymptotic stability and offset-free tracking despite plant-model mismatch and persistent disturbances.
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Offset-free model predictive control: stability under plant-model mismatch
For a class of nonlinear offset-free MPC designs with quadratic costs and backoff constraints, the authors prove robust asymptotic stability and offset-free tracking despite plant-model mismatch and persistent disturbances.