Simple stable discrete-time generalised predictive control with anticipated filtration of control error

Abstract

It is shown that under some specific conditions, the solution of the generalised predictive control (GPC) design using the concept of anticipated filtering (AF) of the control error always exists, and that such a design leads to stable control systems with definite closed-loop characteristics. The plant cancellation issue is taken into account, and it is demonstrated that certain bounds on GPC design parameters have to be considered. An iterative procedure for simultaneous determination of the three basic design-tuning parameters: the control horizon, the controller gain, and the order of plant cancellation, is also supplied. An important feature of this approach is that the anticipated filtering makes it possible to reduce a disagreeable control effort associated with GPC and to make the [lambda]-tuning mechanism practicable. The bounds on the GPC design parameters are discussed, and certain optimal tuning rules are proposed and validated via simulated experiments