Multivariable continuous-time generalized predictive control with multiple time delays

A new delay predictive solution is proposed for the multivariable continuous-time generalized predictive control (MDCGPC). Based on the subsubmodels, the predictive compensator is introduced in the predictive output by using the delay predictive mechanism. 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 time-delays and can obtain decoupling performance by tuning the reference trajectory. Some simulations verify the performance.