Tuning MPC using H∞ loop shaping

In this paper tuning procedures are outlined for the infinite horizon model predictive control (MPC). The infinite horizon formulation takes advantage of recent extensions to the theory of MPC, which allows the use of infinite horizons in the presence of hard constraints. The model predictive control structure which will be considered here is a constrained regulator in series with a stable observer. The solution makes use of H_∞ loopshaping and results on the normalized left coprime factorization (NLCF) optimal control problem for discrete time systems