In the real applications, the model predictive control (MPC) technology is separated into two layers, that is, a layer of conventional dynamic controller, based on which is an added layer of steady-state target calculation. In the literature, conditions for offset-free linear model predictive control are given for combined estimator (for both the artificial disturbance and system state), steady-state target calculation, and dynamic controller. Usually, the offset-free property of the double-layered MPC is obtained under the assumption that the system is asymptotically stable. This paper considers the dynamic stability property of the double-layered MPC.
"Offset-Free Strategy by Double-Layered Linear Model Predictive Control." J. Appl. Math. 2012 (SI08) 1 - 14, 2012. https://doi.org/10.1155/2012/808327