Design of robust model-based tracking controllers via parametric programming

In this paper a method is presented for deriving the explicit robust model-based optimal control law for constrained linear dynamic systems. The controller underlying structure is derived off-line via parametric programming before any actual process implementation takes place. The proposed control scheme guarantees feasibility under the presence of uncertainties and disturbances, and steady state offset elimination by augmenting the model dynamics with a set of integral states and explicitly incorporating in the design stage a set of feasibility constraints.