Target tracking method of Robust Model Predictive Control

Aiming at how to apply the state feedback predictive control algorithm to track the set value, a new RMPC(Robust Model Predictive Control) is proposed for tracking system. Firstly, the conversion method between the output set value and the corresponding steady target state is given. Then,the Luenberge state observer is designed, which has the stability performance index constraints. The parameters of observer is adjusted until it meets the performance index. Thirdly, the output tracking and predictive control algorithm is designed. Finally, a simulation example shows the feasibility of the proposed method.