Disturbance rejection in constrained predictive control

It is well known in the robust control literature that a Youla-parameterisation can be used to improve the disturbance rejection properties and robustness of a control loop. These ideas can be easily incorporated into linear predictive controllers. However, during online inequality constraint handling the Youla parameterisation cannot be used and other means are required to improve robustness proper ties. We illustrate the use of a novel disturbance model within predictive control and the advantages of its use during constraint handling