Multivariable MPC design based on a frequency response approximation approach

This paper presents an improvement to the MPC tuning approach presented in [1]. The drawbacks of the former approach are discussed and a new tuning approach is proposed to overcome them. The primary aim is to treat linear MPC as a classical controller design problem and to use the tools of linear control theory for determining the tuning parameters. MPC tuning is performed for a desired open-loop frequency response which results from an achievable closed-loop performance determined using the Youla parameterization technique. The tuning approach is performed in two steps and both resulting minimization problems are convex optimization problems. The approach is tested on a challenging example.