Abstract：A new delay predictive solution and the parameters recursive computation method are proposed for the multivariable continuous-time generalized predictive control （MDCGPC）. By using the delay predictive mechanism and the computation of the identities, the delay compensator is introduced in the predictive output based on the multivariable subsubmodels, and the explicit control law is obtained by solving the QP cost function. This control strategy can avoid the model error and nonminimum phase characteristic caused by the time-delay approximation method. It can solve the system with multiple timedelays and obtain decoupling performance by tuning the reference trajectory. Moreover, the recursive computation of control parameters reduces the computation load and complexity. Some simulations verify the performance.
潘立登, 魏环 . 一类时滞多变量连续系统的广义预测控制[J]. 江苏大学学报（自然科学版）, 2008, 29(4): 326-329.
Pan Lideng, Wei Huan- . A generalized predictive control of multivariable continuous-time system with time-delays[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2008, 29(4): 326-329.
2008, Vol. 29 
