Offset-free nonlinear model predictive control (NMPC) can eliminate the tracking offset associated with presence of plant-model mismatch or other persistent disturbances by augmenting plant and employing an observer to estimate both states disturbances. Despite their importance, a systematic approach for generation suitable disturbance models is not available. We propose optimization-based meth...

The paper is devoted to the subdifferential study and applications of the supremum of uniformly Lipschitzian functions over arbitrary index sets with no topology. Based on advanced techniques of variational analysis, we evaluate major subdifferentials of the supremum functions in the general framework of Asplund (in particular, reflexive) spaces with no convexity or relaxation assumptions. The ...