An Extension of Self-Tuning Two Degree-of-Freedom GPC Based on Polynomial Approach with Computational Savings

This paper proposes an extension of self-tuning two degree-of-freedom generalized predictive control based on polynomial approach with computational savings. When the identified plant parameters converge on true values, the proposed method reveals the effect of the integral compensation only if there exists modeling error or disturbance. And a new design parameter is introduced, which is chosen to poles of the controller without changing closed-loop poles.