Application of output predictive algorithmic control to nonminimum phase systems

In this paper a direct approach is suggested for the control of nonminimum phase systems with the model predictive control technique OPAC (Output Predictive Algorithmic Control). The horizon of prediction is extended beyond the initial opposite behavior of the nonminimum phase system while little cost weight is put on matching the initial response but increasingly heavy weight is put upon matching the predicted "steady state" response.