On robust tracking with non-linear model predictive control

In this paper a class of stabilizing model predictive control algorithms based on an optimization problem with two different horizons (control and prediction) is considered. Particular attention is devoted to the tracking problem for reference signals constant beyond a prescribed future horizon. For such a problem, it is pointed out the necessity of an output-feedback scheme to guarantee robust steady-state zero-error regulation. Moreover, an additional constraint is introduced in the optimization problem for the robust fulfilment of the constraints on the control variable. The potentiality of this approach is shown through some simulation experiments on a highly non-linear chemical reactor.