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Journal of Control Science and Engineering
Volume 2019, Article ID 5208612, 7 pages
Research Article

Desired Terminal State Concept in Model Predictive Control: A Case Study

University of Pardubice, Pardubice 530 02, Czech Republic

Correspondence should be addressed to Daniel Honc; zc.ecpu@cnoh.leinad

Received 20 February 2019; Accepted 21 April 2019; Published 8 May 2019

Academic Editor: Radek Matušů

Copyright © 2019 František Dušek and Daniel Honc. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The paper deals with an online optimization control method for dynamical processes called Model Predictive Control (MPC). It is a popular control method in industry and frequently treated in academic areas as well. The standard predictive controllers usually do not guarantee stability especially for the case of short horizons and large control error penalization. Terminal state is one way to ensure stability or at least increase the controller robustness. In the paper, deviation of the predicted terminal state from the desired terminal state is considered as one term of the cost function. Effect of the stability and control quality is demonstrated in the simulated experiments. The application area for online optimization methods is very broad including various logistics and transport problems. If the dynamics of the controlled processes cannot be neglected, the optimization problem must be solved not only for steady state but also for transient behaviour, e.g., by MPC.