The paper incorporates pole restriction into the generalised predictive controller (GPC). The closed-loop poles are restricted to a region determined from settling time and maximum percentage overshoot. The design is less restrictive than pole placement in that a region rather than fixed points is specified for the closed-loop poles. This property becomes important when process dynamics vary significantly during operation. Furthermore, the algorithm is efficient, as the control weighting λ need not be computed at every sample. A piecewise time-invariant controller is obtained, thus the stability robustness of the system is enhanced.
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http://iet.metastore.ingenta.com/content/journals/10.1049/ip-cta_19981740
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