Model predictive control based on finite impulse response models

We develop a regularized l₂ finite impulse response (FIR) predictive controller with input and input-rate constraints. Feedback is based on a simple constant output disturbance filter. The performance of the predictive controller in the face of plant-model mismatch is investigated by simulations and related to the uncertainty of the impulse response coefficients. The simulations can be used to benchmark l₂ MPC against FIR based robust MPC as well as to estimate the maximum performance improvements by robust MPC.