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Reverse engineered MPC for tracking with systems that become uncertain


Conference Object

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Hartley, EN 
Maciejowski, JM 


A constrained model predictive control technique for tracking is proposed for systems whose models become uncertain (for example after a sensor failure). A linear time invariant robust controller with integral action is used as a baseline and ``reverse engineered'' into the form of a reduced order observer, steady state target calculator and control gain, based on a nominal model, augmented with integrating disturbance states. Constraints are enforced by optimising over perturbations to the nominal control action. Clean transition between a nominal, high performance mode of operation when parameters are known, to a safe and recursively feasible robust mode when parameters are unknown can be facilitated by using the same steady state target in both cases.



Model predictive control, MPC, Reverse engineering, Output feedback, Uncertain systems, Parameter varying control

Journal Title

2014 European Control Conference, ECC 2014

Conference Name

2014 European Control Conference (ECC)

Journal ISSN

Volume Title


European Commission (314544)
The research leading to these results has received funding from the European Union Seventh Framework Programme FP7/2007-2013 under grant agreement number 314 544, project ``RECONFIGURE''.