An Improved Predictive Tracking Control of Discrete-Time High-Order Fully Actuated Systems

This paper is concerned with an output tracking problem for a type of discrete-time high-order fully actuated (DTHOFA) systems, especially improving the dynamic performance of the tracking control. An improved predictive tracking control approach is investigated to address this problem. For the improvement of dynamic performance, an attempt of this approach is to introduce an increment of output predictions into an objective function of predictive control, such that the changes of output predictions can be limited to suppress the oscillation of output responses. To ensure the full actuation feature, an incremental HOFA prediction model is developed by means of a Diophantine Equation to substitute for a first-order prediction model. Through this prediction model, the multi-step ahead output predictions and their increments are obtained to optimize the objective function involving the tracking control performance and the improvement of dynamic performance. The in-depth discussion derives a sufficient and necessary condition for the stability and tracking performance of closed-loop DT-HOFA systems. To verify the feasibility and superiority, the proposed result provides a solution to the tracking control of RLC circuit.