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A generalized predictive control of multivariable continuous-time system with time-delays |
Institute of Automation, Beijing University of Chemical Technology, Beijing 100029, China)
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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.
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