  In this paper an offset-free model predictive control scheme is presented for
fractional-order systems using the Gr\"unwald-Letnikov derivative. The
infinite-history fractional-order system is approximated by a
finite-dimensional state-space system and the modeling error is cast as a
bounded disturbance term. Using a state observer, it is shown that the unknown
disturbance at steady state can be reconstructed and modeling errors and other
persistent disturbances can be attenuated. The effectiveness of the proposed
controller-observer ensemble is demonstrated in the optimal administration of
an anti-arrhythmic medicine with fractional-order pharmacokinetics.
