Receding horizon tracking control as a predicitive control for the continuous-time systems

This paper proposed a predictive tracking controller for the continuous-time systems by using the receding horizon concept in the optimal tracking control. This controller is the continuous-time version of the previous RHTC (Receding Horizon Tracking Control) for the discrete-time state space models. The problems in implementing the feedforward part of this controller is discussed and a approximate method of implementing this controller is presented. This approximate method utilizes the information of the command signals on the receding horizon and has simple constant feedback and feedforward gain. To perform the offset free control, the integral action is included in the continuous time RHTC. By simulation it is shown that the proposed method gives better performance than the conventional steady state tracking control.