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Constrained receding-horizon predictive control

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2 Author(s)
Clarke, D.W. ; Dept. of Eng. Sci., Oxford, UK ; Scattolini, R.

Constrained receding-horizon predictive control (CRHPC) is intended for demanding control applications where conventional predictive control designs can fail. The idea behind CRHPC is to optimise a quadratic function over a `costing horizon' subject to the condition that the output matches the reference value over a further constraint range. Theorems show that the method stabilises general linear plants (e.g. unstable, nonminimum-phase, dead-time). Simulation studies demonstrate good behaviour with even nearly unobservable systems (where generalised predictive control is ineffective) and that control-costing is a particularly effective tuning parameter

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Control Theory and Applications, IEE Proceedings D  (Volume:138 ,  Issue: 4 )