Continuous-time generalized predictive control (CGPC)

A continuous-time version of the discrete-time Generalized Predictive Controller is presented. The continuous-time formulation arises from a mixture of two kinds of analogy between continuous and discrete-time systems: a physical analogy and an algebraic analogy. Emphasis is placed on the differences arising from a continuous-time formulation, and the relative merits of a continuous and a discrete-time approach are given. Although mainly concerned with the design algorithm itself, the paper also indicates how a self-tuning version can be implemented. Illustrative simulations are given.

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