Continuous model predictive control for linear disturbed systems under mismatching condition

This paper presents a continuous model predictive control (MPC) for a class of linear disturbed system under mismatching condition by using a disturbance observer. The disturbance estimates are introduced in the output prediction to correct the errors raised by disturbances and uncertainties, which eventually leads to the desired offset-free tracking performance. The feasibility of the proposed method is validated by implemented it to the speed regulation of a permanent magnet synchronous motor (PMSM) system.