Infinite horizon model predictive control for tracking problems

This paper investigates constrained infinite horizon model predictive control. In particular the paper compares the performance of infinite horizon model predictive control with nominal model predictive control and shows that the infinite horizon controller offers improved set-point tracking. The paper also describes a method that is able to cope with the order mismatch between the plant and the model used within the model predictive controller. This approach exploits linear quadratic tracking.