Cisneros, Pablo S. G.Pablo S. G.CisnerosWerner, HerbertHerbertWerner2021-01-132021-01-132021-05IEEE Transactions on Control Systems Technology: 1-6 (2021-05)http://hdl.handle.net/11420/8424This brief presents a velocity-form nonlinear model predictive control (NMPC) scheme via velocity-based linearization. The main features of this approach are built-in offset-free control in the presence of disturbances, tracking of piecewise constant, possibly unreachable, reference signals, and simple implementation, as a parameterization of all equilibria is not necessary. Furthermore, the model in velocity form can be expressed as a quasi-linear parameter-varying (quasi-LPV) model, for which efficient online optimization algorithms exist. The proposed approach is experimentally validated on a 2-degree-of-freedom robotic manipulator, where its capabilities and efficiency are highlighted.en1063-6536202116Journal Article10.1109/TCST.2020.2979386Other