Generalized Predictive Control Tuning for Desired Frequency Domain Specification

In this paper, A tuning algorithm for Generalized Predictive Control (GPC) based on desired frequency domain specifications is proposed. This tuning method consists of two steps. First step is formulation of GPC in closed loop model with unity feedback gain. Second step guarantees the controller to follow the desired sensitivity specifications by using non-linear optimization. The proposed tuning algorithm is demonstrated in MATLAB simulation that considers a stable First Order Plus Dead Time (FOPDT) system with short time delay, long time delay and non-minimum phase.