Offset-free nonlinear MPC for mismatched disturbance attenuation with application to a static var compensator

A generalized nonlinear model predictive control augmented with a disturbance observer is proposed in this brief to solve the disturbance attenuation problem of nonlinear systems with arbitrary disturbance relative degree. It is shown that the disturbances can be removed from the output channels by the proposed method with appropriately designed disturbance compensation gain. The property of nominal performance recovery is retained with the proposed method. The effectiveness of the proposed method is validated by applying it to a static var compensator system.