Constrained Neural Model Predictive Control with Guaranteed Free Offset
نویسندگان
چکیده
An extended model-based predictive control scheme is proposed and implemented on a bench three-tanks system. This structure is based on a constrained local instantaneous linear model-based predictive controller complemented with a static offset compensator for guaranteeing that tracking errors converge to zero in a finite time. A non-linear state-space neural network architecture trained offline is used for modelling purposes and forming a seed from where linear models are extracted at each sampling time. Results from experiments show that this extended MPC scheme ensures a good tracking performance with zero steady-state offsets, in spite of modelling errors.
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