Authors
Akira Yanou*
Faculty of Health Science and Technology, Kawasaki University of Medical
Welfare, 288 Matsushima, Kurashiki, Okayama 7010193, Japan
*Email: [email protected]
Corresponding Author
Akira Yanou
Received 23 October 2019, Accepted 17 May 2020, Available Online 3 June
2020.
DOI
https://doi.org/10.2991/jrnal.k.200528.012
Keywords
Generalized predictive control; closed-loop characteristics; noise; output
prediction
Abstract
Generalized Predictive Control (GPC) is one of the model-based control
methods. The control law is derived by minimizing performance index, which
includes the squares of control input and the squares of the error between
reference signal and output prediction, in order to make the derived control
system be stable. Although coprime factorization approach has been used
to extend the conventional control law in the previous researches, there
has been a possibility that the order of the derived control law becomes
high. Therefore, this paper extends GPC through newly-defined output prediction
and proposes the method to re-design the control law or the disturbance
response with keeping the closed-loop transfer function. Numerical example
is shown to check the characteristic of the proposed method.
Copyright
© 2020 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license
(http://creativecommons.org/licenses/by-nc/4.0/).