Model predictive control for offset-free reference tracking of fractional order systems

Sotiris Ntouskas, Haralambos Sarimveis, Pantelis Sopasakis

Research output: Contribution to journalArticlepeer-review

12 Citations (Scopus)
439 Downloads (Pure)


In this paper an offset-free model predictive control scheme is presented for fractional-order systems using the Grünwald–Letnikov derivative. The infinite-history fractional-order system is approximated by a finite-dimensional state-space system and the modeling error is cast as a bounded disturbance term. Using a state observer, it is shown that the unknown disturbance at steady state can be reconstructed and modeling errors and other persistent disturbances can be attenuated. The effectiveness of the proposed controller–observer ensemble is demonstrated in the optimal administration of an anti-arrhythmic medicine with fractional-order pharmacokinetics.
Original languageEnglish
Pages (from-to)26-33
Number of pages8
JournalControl Engineering Practice
Early online date08 Nov 2017
Publication statusPublished - Feb 2018


  • Fractional-order systems
  • Model predictive control
  • Grünwald–Letnikov derivative
  • Controlled drug administration
  • Fractional pharmacokinetics


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