An Improved Move-Blocking Strategy in Predictive Control for Setpoint Tracking

One of the main features of model predictive control is its ability to incorporate in the computation of the control law the advance (future) knowledge of the setpoint trajectory. Nevertheless, it can be shown that the standard move-blocking approaches that take into account this future information could reduce rather than improve its performance with no stability guarantees. Therefore, objective of this paper is first demonstrate where existing algorithms have weaknesses and then develop an algorithm based on move-blocking which allows nominal stability guarantees, optimal nominal performance and tracking.