integral-action-design

To eliminate steady-state offset in MPC, apply an integral action term that accumulates error over time. This approach corrects the persistent deviation caused by model mismatch, ensuring the controlled variable accurately tracks its reference.

Integral action in control systems is a technique that accumulates past error to eliminate steady-state offset. By continuously integrating the error signal, it forces the controller to adjust the output until the model mismatch deviation reaches zero.

Implement anti-windup for a leaky integrator by applying bounds that clip the integral term. This prevents the integral action from saturating during tracking transients, maintaining stable offset correction without destabilizing the MPC.

Yes, you can apply integral action to tension tracking in multi-section systems. The approach supports per-section application, allowing you to correct offset independently for each tension zone in the MPC framework.

Updating the integral term for offset correction requires the gain gamma, the integral coefficient c_I, and the timestep dt. These parameters drive the leaky integration process to systematically remove steady-state offset.