CONICET | Buscador de Institutos y Recursos Humanos

In this work, a stable MPC that maximizes the domain of attraction of the closed-loop system is proposed. The proposed approach is suitable to real applications in the sense that it accountsfor the case of output tracking, it is offset free if the output target is reachable and minimizes theoffset if some of the constraints are active at steady state. The new approach is based on thedefinition of a Minkowski functional related to the input and terminal constraints of the stableinfinite horizon MPC. It is also shown that the domain of attraction is defined by the system model and the constraints, and it does not depend on the controller tuning parameters. The proposed controller is illustrated with small order examples of thecontrol literature.

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