Constrained nonlinear MPC for accelerated tracking piece-wise references and its applications to thermal systems

In this paper,we propose a model predictive control(MPC)strategy for accelerated offset-free tracking piece-wise constant reference signals of nonlinear systems subject to state and control constraints.Some special contractive constraints on tracking errors and terminal constraints are embedded into the tracking nonlinear MPC formulation.Then,recursive feasibility and closed-loop convergence of the tracking MPC are guaranteed in the presence of piece-wise references and constraints by deriving some sufficient conditions.Moreover,the local optimality of the tracking MPC is achieved for unreachable output reference signals.By comparing to traditional tracking MPC,the simulation experiment of a thermal system is used to demonstrate the acceleration ability and the effectiveness of the tracking MPC scheme proposed here.