Horizon-switching predictive set-point tracking under mixed control saturations and persistent disturbances

This paper extends of the horizon-switching predictive control approach, so far restricted to positional input saturation and the pure regulation problem, to the case of set-point tracking. It is proved a basic feasibility property which makes it possible to extend this approach so as to achieve offset-free asymptotic tracking under joint positional and incremental input saturations and constant disturbances. It is also addressed the same problem in the presence of time-varying disturbances. In such a case it is proved that, whenever the system is subject only to incremental input saturations, the goal is achieved with the property of boundednoise bounded-state l∞-stability. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.