Towards systematic design of MPC to achieve time domain specifications

This paper presents a systematic design procedure for obtaining a model predictive controller (MPC), encompassed within standard MPC formulations for constrained linear systems to achieve desired output transient responses. The proposed formulation provides a way of overcoming the complexity involved in tuning MPC controllers to accomplish certain output response characteristics. Exponential envelopes are introduced and the outputs are constrained to remain within the envelopes forming the key tuning parameters in meeting the time domain specifications. The key feature of this controller compared to the standard MPC controllers, is the reduced number of effective tuning parameters. Moreover, closed loop stability is guaranteed under standard assumptions. The systematic tuning procedure of the proposed controller is illustrated on a numerical simulation of a double mass-spring-damper system with time domain requirements on the output.