integral-action-design

Integral action eliminates steady-state error in MPC by accumulating offset over time via a leaky-integrator, ensuring accurate tension tracking even with model mismatch. It provides per-channel integral updates to remove persistent offsets in multi-section systems.

Steady-state offset in R2R tension systems occurs when MPC operates with model mismatch. Applying a leaky-integrator with per-section integral action compensates for these disturbances by accumulating the tracking error over time.

Tune the decay gamma and integral gain c_I to balance responsiveness and stability in offset-free MPC. Adjusting these parameters controls how quickly the leaky-integrator accumulates error to eliminate steady-state offset without destabilizing the control loop.

Yes, MPC integral action supports per-section updates for multi-section R2R tension systems. It applies a leaky-integrator to each tension channel individually, enabling offset compensation across multiple distinct channels during disturbances.

Anti-windup prevents the integral state in MPC from accumulating excessive error when actuators saturate. Configuring anti-windup alongside the integral gain c_I and decay gamma ensures the leaky-integrator remains stable during offset conditions.