MODEL-FOLLOWING GENERALIZED PREDICTIVE CONTROLLER WITH ROBUSTNESS AND ADAPTIVENESS

It is presented in this paper a new. generalized predictive controller based on the internal model principle for the filtered CARMA model, a nice analysis of the closed-loop system resulting from this control law is made. The nwe controller introduces a proper feedforward term which enables the tracking and regulation performance capabilities to be treated separately. The tracking capability is obtained by partial state tracking, multiple model reference and pole placement approach, which can be suitably chosen by the user to achieve a different desired tracking dynamics; while the regulation performance is provided by the multistep receding horizon control approach which minimizes the tracking error. The closed-loop response can be improved by designing the filter which reduces the deleterious effects of unmodeled dynamics and disturbances and gives designer more freedom in choosing the design parameters. Simulations show that the controller has a strong robustness versus disturbance, variations of dead-time and model order. It is suitable for systems that are both unstable and/or in non-minimum phase.