A New Adaptive Factor-Based Output Compensation Strategy for Offset Free Control of MLD-MPC with Model-Plant Mismatch

The mixed logical dynamical (MLD) model is a powerful framework of multimodel combinations for nonlinear systems control. Although superior control performance can be obtained by MLD-MPC, model-plant mismatch (MPM) will deteriorate the control performance. To eliminate the offset caused by MPM, a new adaptive factor-based output compensation strategy for MLD-MPC is proposed. The adaptive factor is introduced to guarantee better control performance of the MLD-MPC system. On the basis of Lyapunov stability theory and dynamics of the MLD-MPC system, the adaptive factor can be solved. By implementing the proposed strategy, the stability and zero offset of the MLD-MPC system can be achieved. Furthermore, the influence of submodel switching is considered in this new strategy, and the strategy is easy to carry out online. Finally, the proposed strategy is applied in a nonlinear benchmark process-CSTR. The simulation results have demonstrated that the proposed method is effective and can satisfy the overall control performance.