Lyapunov‐based offset‐free model predictive control of nonlinear process systems

Abstract This work considers the problem of control of nonlinear systems subject to uncertainty. To this end, a Lyapunov‐based robust model predictive controller (MPC) design is integrated with a moving horizon based offset‐free mechanism to enable improved closed–loop performance. Simulation results are presented to illustrate the key ideas of the proposed design.