THE REALIZATION OF KLEINMAN CONTROL IN GPC

This paper presents a more concise proof for the equivalence of Kleinman Control and Generalized Predictive Control(GPC), and gives the corresponding GPC control strategy. The gain of GPC is made calculable via the transformation of gain formula when the control weight is small. Also the problem that the dimension of the matrix to be inverted increases with the control horizon in the gain calculating is solved.