MPC for tracking of piece-wise constant references for constrained linear systems

Model predictive control (MPC) is one of the few techniques whichis able to handle with constraints on both state and input of theplant. However, most of the existing results on MPC are designed for a regulation problem. Ifthe desired steady state changes, the MPC controller must beredesigned to guarantee stability. In this paper a novel formulation of the MPC isproposed to track varying references. This controller ensures thefeasibility of the optimization problem, constraint satisfactionand asymptotic evolution of the system to any admissiblesteady-state. Hence, the proposed MPC controller ensures theoffset free tracking of any sequence of piece-wise constantadmissible set points. Moreover this controller requires thesolution of a single QP at each sample time.