Individual skill
integral-action-design
Adding integral action to MPC for offset-free tension tracking.
tasks/r2r-mpc-control/environment/skills/integral-action-design/SKILL.md
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# Integral Action for Offset-Free Control
## Why Integral Action?
MPC with model mismatch may have steady-state error. Integral action eliminates offset by accumulating error over time.
## Implementation
```python
u_I = gamma * u_I - c_I * dt * (T - T_ref)
u_total = u_mpc + u_I
```
Where: