This paper compares two finite-control-set model predictive control (FCS-MPC) strategies in the context of a grid-connected single-phase quasi-Z source inverter (SP-qZSI). Both schemes use discrete-time models inductor current and capacitor voltage for DC side, as well output on AC side. To enhance converter’s performance, given non-minimum phase characteristics long prediction horizon is imple...

Disturbance rejection strategies are very useful for the robustness improvement of predictive control method. But they can only be used in modulated-based methods such as continuous set model (CS-MPC) and deadbeat control. This paper presents a robust current prediction based on total disturbance observer (TDO), which is applicable finite (FS-MPCC). In proposed method, directly part instead loo...

this paper employs nonlinear disturbance observer (ndo) for robust trajectory-free nonlinear model predictive control (nmpc) of biped robots. the ndo is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. in contrary to the slow-varying disturbances, handling sudden pushing ...