Robust offset‐free nonlinear model predictive control for systems learned by neural nonlinear autoregressive exogenous models

This paper presents a robust model predictive control (MPC) scheme that provides offset-free setpoint tracking for systems described by neural nonlinear autoregressive exogenous (NNARX) models. To this end, NNARX learns the dynamics of plant from input-output data is augmented with an explicit integral action on output error. A tube-based MPC finally designed, leveraging unique structure model, to ensure convergence constant reference signals even in case plant-model mismatch. Numerical simulations water heating system show effectiveness proposed algorithm.