title: Improving the feed-forward compensator in predictive control for setpoint tracking.
abstract: Simple predictive control (MPC) algorithms produce a feed-forward compensator that may be a suboptimal choice. This paper gives some insights into this issue and simple means of modifying the feed-forward to produce a more systematic and optimal design. In particular, it is shown that the optimum procedure depends upon the underlying loop tuning and also that there are, as yet under utilised, potential benefits with regard to constraint handling procedures, which helps to improve the computational efficiency of the online controller implementation. A laboratory test in a programmable logic controller (PLC) was carried out to demonstrate the code on real hardware and the effectiveness of the solution.
authors.affiliation: Instituto Tecnológico de Hermosillo, Av. Tecnológico y Periférico Poniente s/n, 83170, Mexico. Electronic address: gvalencia@ith.mx.
authors.forename: G
authors.initials: G
authors.lastname: Valencia-Palomo
authors.affiliation: Department of Automatic Control and Systems Engineering, University of Sheffield, South Yorkshire S1 3JD, UK.
authors.forename: J A
authors.initials: JA
authors.lastname: Rossiter
authors.affiliation: Instituto Tecnológico de Tuxtla Gutiérrez, Carretera Panamericana Km. 1080, 29050, Mexico.
authors.forename: F R
authors.initials: FR
authors.lastname: López-Estrada
keywords: Feed-forward; IEC 61131-3; Performance; Predictive control; Programmable logic controller; Tracking