Neural Generalized Predictive Controller and internal model principle

This paper derived a new formulation for Lyapunov stability analysis of Neural Generalized Predictive Controller (NGPC). Paper also applied simple technique to improve NGPC stability by using internal model of disturbance in feed forward. Finally, paper presents comparison study for the effect of using internal model principle with severe nonlinear process under different bounded disturbances. Calculation of IAE, ISE and differential Lyapunov function is used to verify stability enhancement during simulation.