Stable Continuous-Time Generalized Predictive Control of MIMO Time Delay Processes with Unmodelled Dynamics and Input Constraints

摘要

This paper is concerned with a design problem of a multivariable continuous-time antiwindup generalized predictive control (MCAGPC) system based on coprime factorization approach for multiinput/multi-output (MIMO) time delay processes with unmodelled dynamics and input constraints. The uncertainty of the MIMO process with time delay is considered as a structured uncertainty. The effect of the structured uncertainty and input constraint is investigated. Robust strong stability proof of the control system is given and output tracking performance of the closed-loop system is discussed. The effectiveness of the proposed design scheme is confirmed by simulations.