The principle of robustness in generalized predictive control (Q1807847)

The closed-loop nature of the generalized predictive control (GPC) approach in the framework of the internal model control (IMC) is analyzed. New types of relations in the GPC inner structure are revealed and the question why GPC is provided with the feature of robustness is answered. A new (irrespective to the open-loop stability) method of robustness analysis is presented. It is argued that some robust design methods (for example receding horizon predictive control with a prefilter in the feedback path) may be generalized to systems with open-loop unstable plant models.