Robust Stability Analysis of CGPC

Small gain theorem is used to obtain a sufficient condition for the robust stability of continuous-time generalized predictive control (CGPC) in the presence of unmodelled dynamics. Robust bounds for CGPC can be found by evaluating control law for various selection of the available tuning parameters, and substituting into the sufficient condition. An example is given to analyze the influence of CGPC parameters on its robustness in the frequency domain, leading to guidelines for the selection of parameters