{"id":"https://openalex.org/W1964764014","doi":"https://doi.org/10.1109/tac.2013.2254011","title":"A Robust MPC Algorithm for Offset-Free Tracking of Constant Reference Signals","display_name":"A Robust MPC Algorithm for Offset-Free Tracking of Constant Reference Signals","publication_year":2013,"publication_date":"2013-03-22","ids":{"openalex":"https://openalex.org/W1964764014","doi":"https://doi.org/10.1109/tac.2013.2254011","mag":"1964764014"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2013.2254011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2013.2254011","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057874358","display_name":"Giulio Betti","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giulio Betti","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","[Dipartimento di Elettronica e Informazione, Politecnico di Milano , Milan, Italy]"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"[Dipartimento di Elettronica e Informazione, Politecnico di Milano , Milan, Italy]","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033116635","display_name":"Marcello Farina","orcid":"https://orcid.org/0000-0003-4209-9152"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marcello Farina","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","[Dipartimento di Elettronica e Informazione, Politecnico di Milano , Milan, Italy]"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"[Dipartimento di Elettronica e Informazione, Politecnico di Milano , Milan, Italy]","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010643637","display_name":"Riccardo Scattolini","orcid":"https://orcid.org/0000-0003-1804-9921"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Scattolini","raw_affiliation_strings":["Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","[Dipartimento di Elettronica e Informazione, Politecnico di Milano , Milan, Italy]"],"affiliations":[{"raw_affiliation_string":"Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]},{"raw_affiliation_string":"[Dipartimento di Elettronica e Informazione, Politecnico di Milano , Milan, Italy]","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5057874358"],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":8.0793,"has_fulltext":false,"cited_by_count":103,"citation_normalized_percentile":{"value":0.97233586,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"58","issue":"9","first_page":"2394","last_page":"2400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.7147136330604553},{"id":"https://openalex.org/keywords/offset","display_name":"Offset (computer science)","score":0.6294094324111938},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6258600354194641},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.6193905472755432},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.591228723526001},{"id":"https://openalex.org/keywords/reference-model","display_name":"Reference model","score":0.5188818573951721},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4932824969291687},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.48030251264572144},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4665135443210602},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4382333755493164},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4205421805381775},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.39055007696151733},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3301229476928711},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.290929913520813},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2418093979358673},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12733322381973267},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11262348294258118}],"concepts":[{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.7147136330604553},{"id":"https://openalex.org/C175291020","wikidata":"https://www.wikidata.org/wiki/Q1156822","display_name":"Offset (computer science)","level":2,"score":0.6294094324111938},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6258600354194641},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.6193905472755432},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.591228723526001},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.5188818573951721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4932824969291687},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.48030251264572144},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4665135443210602},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4382333755493164},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4205421805381775},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.39055007696151733},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3301229476928711},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.290929913520813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2418093979358673},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12733322381973267},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11262348294258118},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tac.2013.2254011","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2013.2254011","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:re.public.polimi.it:11311/724964","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/724964","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8299999833106995,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1541613950","https://openalex.org/W1632977575","https://openalex.org/W1974887160","https://openalex.org/W1976410223","https://openalex.org/W1978956894","https://openalex.org/W1981723834","https://openalex.org/W1987313138","https://openalex.org/W1989582566","https://openalex.org/W1996803194","https://openalex.org/W2002219970","https://openalex.org/W2005151817","https://openalex.org/W2009685984","https://openalex.org/W2030054607","https://openalex.org/W2073375615","https://openalex.org/W2080407798","https://openalex.org/W2083254576","https://openalex.org/W2093920510","https://openalex.org/W2100096641","https://openalex.org/W2101358888","https://openalex.org/W2109866924","https://openalex.org/W2112368081","https://openalex.org/W2112487171","https://openalex.org/W2119974577","https://openalex.org/W2127040364","https://openalex.org/W2127580532","https://openalex.org/W2134781609","https://openalex.org/W2149087996","https://openalex.org/W2184178949","https://openalex.org/W4245770814","https://openalex.org/W4255900829","https://openalex.org/W4285719527","https://openalex.org/W6674459802"],"related_works":["https://openalex.org/W1550017747","https://openalex.org/W4362501538","https://openalex.org/W1505013685","https://openalex.org/W2542033803","https://openalex.org/W2350800846","https://openalex.org/W2730249917","https://openalex.org/W2142036661","https://openalex.org/W2056209398","https://openalex.org/W2003865124","https://openalex.org/W2150341725"],"abstract_inverted_index":{"A":[0],"robust":[1],"model":[2],"predictive":[3],"control":[4,95],"algorithm":[5],"solving":[6],"the":[7,10,36,39,42,56,70,78,93,98,103],"tracking":[8,49],"and":[9,97],"infeasible":[11,84],"reference":[12,73],"problems":[13],"for":[14],"constrained":[15],"systems":[16],"subject":[17],"to":[18,46,62,81],"bounded":[19,67],"disturbances":[20,52],"is":[21],"presented":[22],"in":[23,41,102],"this":[24],"technical":[25],"note.":[26],"The":[27],"proposed":[28],"solution":[29],"relies":[30],"on":[31],"three":[32],"main":[33],"concepts:":[34],"1)":[35],"reformulation":[37],"of":[38,58,72,77],"system":[40],"so-called":[43],"velocity":[44],"form":[45],"obtain":[47],"offset-free":[48],"when":[50],"constant":[51],"are":[53,88],"present,":[54],"2)":[55],"use":[57,71],"a":[59],"tube-based":[60],"approach":[61],"cope":[63,82],"with":[64,83],"non-constant":[65],"but":[66],"disturbances,":[68],"3)":[69],"outputs":[74],"as":[75],"arguments":[76],"optimization":[79],"problem":[80,104],"references.":[85],"Convergence":[86],"results":[87],"derived":[89],"by":[90],"suitably":[91],"defining":[92],"auxiliary":[94],"law":[96],"terminal":[99],"set":[100],"used":[101],"formulation.":[105]},"counts_by_year":[{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}