Selection of Tuning Parameters for Adaptive Generalized Predictive Control

Abstract

The Generalized Predictive Controller [1,2] is capable of controlling simple low order processes as well as complex plants with variable dead-time, unknown model orders and unstable poles and zeros which cause difficulties for other adaptive techniques. This paper shows how the GPC control law can be written in an equivalent general linear transfer function form. A closed-loop analysis provides a better understanding of the role of the various design and tuning parameters. Three recommended strategies for selecting the design parameters during the commissioning stage allow the user to adjust the closed-loop speed of response on-line using only a single active tuning parameter. Simulation results combined with a root locus analysis demonstrate the ease of applying the algorithm.