Offset-free model predictive controller of a heat pump

This work presents an offset-free model predictive control (OF-MPC) design for energy efficient control of a heat pump. Open-loop system dynamics are examined first to determine the appropriate control structure leading to identification techniques being used to construct linear models of an experimentally-validated heat pump model. Subsequently, a framework consisting of a model predictive controller, cascaded upon a lower level PI controller, is designed. The MPC includes an augmented model (including disturbance states) and an associated Luenberger observer to estimate the prediction disturbance (plant-model mismatch at steady state). Simulation results subject to realistic disturbances and measurement noise demonstrate that energy savings of 2.3% can be achieved with the proposed OF-MPC design compared to a traditional control approach.