Efficient feed forward design within MPC

This paper tackles some important issues in the use of target information by model predictive control (MPC) that have largely been ignored. First the paper shows explicitly how far future information of target changes affects an optimal predictive control (OMPC) for both the unconstrained and constrained case. Secondly, the paper develops on proposal in the literature which deals with scenarios where the desired target is unreachable due to constraints. Numerical illustrations in MATLAB give evidence of the efficacy of the proposals.