Stable generalised predictive control: an algorithm with guaranteed stability

摘要

Generalised predictive control (GPC) has many attributes which make it an effective practical tool for the control of scalar systems. The method is easy to understand/implement and has won popularity among many practicing engineers. Despite its success it does not have a general stability and robust stability theory. The paper proposes a new algorithm which deploys most of the ideas of GPC but yields control configurations with guaranteed stability and provides a systematic means of optimising robust stability margins. It achieves this through the use of a particular stabilising feedback controller which replaces the relevant transfer function operators by simple polynomial operators. This simplification also reduces the computational burden of a computer implementation of the method. The superiority of the results of the paper are illustrated by means of numerical examples.