0458355 20240103212116.820160415235959.9 10.14311/TEE.2016.1.008 6 s. E cav_un_epca*0384523Transactions on Electrical Engineering51 (2016)8-13Ergo Nomen offset-free reference tracking predictive control ARX model state-space model multi-input multi-output system robotic system mechatronic system cav_un_auth*0101064 Belda Květoslav Adaptivní systémy Department of Adaptive Systems AS AS UTIA-B Department of Adaptive Systems Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/2016/AS/belda-0458355.pdf The paper deals with the offset-free reference tracking problem of the Model Predictive Control (MPC). That problem is considered for a class of the constant or occasionally changed constant reference signals. Proposed solution arises from a simple subtraction of the ARX model of two consecutive time steps. The solution is adapted to a state-space form and it corresponds to usual predictive control design without increase of the design complexity. The construction of the prediction equations and predictive controller structure is explained in the paper. 2017 BC 1 RVO:67985556 http://hdl.handle.net/11104/0258935 S 2016 cav_un_epca*0384523 Transactions on Electrical Engineering 1805-3386 Roč. 5 č. 1 2016 8 13 Ergo Nomen