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Summary: Predictive PI-Control of Linear Plants under
Positional and Incremental Input Saturations
David Angeli a Alessandro Casavola b Edoardo Mosca a
a Dip. di Sistemi ed Informatica
Universita di Firenze
Via di S.Marta, 3 - 50139 Firenze, Italy
b Dip. di Elettronica, Informatica e Sistemistica
Universita della Calabria
87037 Arcavata di Rende - (CZ), Italy
Abstract
A predictive control strategy is developed for set-point tracking of LTI plants in
the presence of joint positional and incremental (rate) input saturation constraints.
The resulting control algorithm is built so as to provide an integral action capa-
ble to asymptotically reject arbitrary constant disturbances. This task is achieved
by possibly modifying on-line the set-point in the case this becomes incompatible
with constraints and disturbances. When applied to Asymptotically Null Control-
lable with Bounded Inputs (ANCBI) plants, viz. all stabilizable linear systems with
eigenvalues in the closed unit circle, the control law is shown to globally provide set-
point tracking in the presence of arbitrary constant disturbances and initial state.
For non-ANCBI plants, viz. systems with exponentially unstable modes, the con-
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