On stability of a class of output tracking systems under model predictive control

For model predictive control (MPC) method, the state stability theorem cannot be directly applied to output tracking systems because the desired value exists. Herein, an approach was proposed to stabilize a class of output tracking systems with an integral term in the system transfer functions, through selection of intermediate variable and transformation of the system functions. According to simulation results, the MPC controller can well stabilize such output tracking system, indicating the validity of the proposed approach.