State space representation of MIMO predictive PID controller

The paper is concerned with the state space representation of predictive PID controller, which has similar features to the model-based predictive controller (MPC). A MIMO PID type control structure is defined which includes prediction of the outputs and the recalculation of new set points using the future set point data. The optimal values of the MIMO PID gains are calculated using the values of gains calculated from an unconstrained generalised predictive control algorithm. The stability issues for this controller will be discussed. Simulation studies demonstrate the performance of the proposed controller and the results are compared with conventional PID and generalised predictive control solutions.