I have also tried a different solution, that is: instead of replacing u_ref, I adapted the MPC so that its optimization variable is delta_u instead of u. I guess that in the unconstrained case I shouldn't need to do other modifications.
However, this solution does not work neither.
Hello everyone,
I am designing an MPC controller in Matlab/Simulink and I was actually able to make it work.
Now I would like to bring the tracking error to zero by implementing an integral action, and I have to do it via the "full increment velocity form" technique. In my head this should be...
