Model Predictive Control Based Reference Generation for Optimal Proportional Integral Derivative Control

We introduce an alternative approach towards optimal proportional integral derivative (PID) control, consisting of model predictive control (MPC) based reference generation. To this end, we have integrated the reference as part of optimization variables of the resulting problem, where a deliberate sequence of errors is induced to obtain an optimal PID control action. In addition, the desired behavior of the PID controller is achieved without the need for internal modification of the PID gains. To better highlight the ability of coping with poor PID tuning, several test cases consisting of progressively degraded PID gains are presented. Validation of the proposed strategy is displayed by comprehensive simulations using two different plants.