Generalized Predictive Control
This chapter describes one of the most popular predictive control algorithms: Generalized Predictive Control (GPC). The method is developed in detail, showing the general procedure to obtain the control law and its most outstanding characteristics. The original algorithm is extended to include the cases of measurable disturbances and change in the predictor. Close derivations of this controller as CRHPC and Stable GPC are also treated here, illustrating the way they can be implemented.
KeywordsDiophantine Equation Linear Quadratic Regulator Free Response Classical Controller Load Disturbance
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