Disturbance rejection and set-point following of periodic signals using predictive control with constraints

This paper proposes a continuous-time model predictive control design for disturbance rejection and set-point following of periodic signals. By assuming input disturbance in the form of sinusoid, the periodic frequency is embedded into the design model. Hence, from internal model principle, the steady-state error of the model predictive control system is ensured to be zero for both disturbance rejection and set-point following. Furthermore, with the design framework of model predictive control, hard constraints on the derivative and amplitude of the control signals are imposed as part of the performance specification. Simulation studies have been used to show the efficacy of the design with or without hard constraints